337 lines
11 KiB
Python
Executable File
337 lines
11 KiB
Python
Executable File
#!/usr/bin/env python
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# -*- coding: utf-8 -*-
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import sys, config, math, time, traceback
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from ur5controller import DemoController
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def check_z_levels(controller):
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print 'Going to home pose.'
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controller.move_to_home_pose()
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time.sleep(1)
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r, theta, z = controller.current_cyl
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print "z-level 0"
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z = config.Z_LVL0
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move = controller.cylinder2cartesian(r, theta, z) + [0.2, 0.1, 0]
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controller.exec_move(move, wait=True)
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controller.set_cylinder_coords()
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dummy = raw_input('Press any key to continue...')
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print "z-level 1"
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z += config.BLOCK_DIM
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move = controller.cylinder2cartesian(r, theta, z) + [0.2, 0.1, 0]
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controller.exec_move(move, wait=True)
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controller.set_cylinder_coords()
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dummy = raw_input('Press any key to continue...')
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print "z-level 2"
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z += config.BLOCK_DIM
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move = controller.cylinder2cartesian(r, theta, z) + [0.2, 0.1, 0]
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controller.exec_move(move, wait=True)
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controller.set_cylinder_coords()
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dummy = raw_input('Press any key to continue...')
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print "z-level 3"
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z += config.BLOCK_DIM
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move = controller.cylinder2cartesian(r, theta, z) + [0.2, 0.1, 0]
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controller.exec_move(move, wait=True)
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controller.set_cylinder_coords()
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dummy = raw_input('Press any key to continue...')
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print "z-level 4"
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z += config.BLOCK_DIM
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move = controller.cylinder2cartesian(r, theta, z) + [0.2, 0.1, 0]
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controller.exec_move(move, wait=True)
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controller.set_cylinder_coords()
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dummy = raw_input('Press any key to continue...')
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def test_unitary_moves(controller):
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print 'Going to home pose.'
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controller.move_to_home_pose()
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time.sleep(1)
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print 'Moving (+r, 0, 0)'
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controller.move((1,0,0), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (-r, 0, 0)'
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controller.move((-1,0,0), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (0, +theta, 0)'
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controller.move((0,1,0), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (0, -theta, 0)'
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controller.move((0,-1,0), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (0, 0, +z)'
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controller.move((0,0,1), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (0, 0, -z)'
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controller.move((0,0,-1), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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def test_multi_moves(controller):
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print 'Going to home pose.'
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controller.move_to_home_pose()
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time.sleep(1)
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print 'Moving (+r, +theta, 0)'
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controller.move((1,1,0), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (-r, -theta, 0)'
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controller.move((-1,-1,0), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (+r, -theta, 0)'
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controller.move((1,-1,0), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (+r, 0, z)'
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controller.move((1,0,1), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (-r, 0, z)'
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controller.move((-1,0,1), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (0, theta, -z)'
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controller.move((0,1,-1), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (0, -theta, -z)'
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controller.move((0,-1,-1), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (r, theta, z)'
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controller.move((1,1,1), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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print 'Moving (-r, theta, -z)'
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controller.move((-1,1,-1), t=2)
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time.sleep(1)
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controller.set_cylinder_coords()
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def check_loop_constraints(controller):
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print 'Going to home pose.'
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controller.move_to_home_pose()
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time.sleep(1)
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controller.movec_hax(config.R_LVL0, config.THETA_EDGE_RIGHT, config.Z_LVL0, wait=True)
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controller.set_cylinder_coords()
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print 'Right edge, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
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dummy = raw_input('Press any key to continue...')
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controller.movec_hax(config.R_LVL0, 0, config.Z_LVL0, wait=True)
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controller.set_cylinder_coords()
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print 'Middle, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
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dummy = raw_input('Press any key to continue...')
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controller.movec_hax(config.R_LVL0, config.THETA_EDGE_LEFT, config.Z_LVL0, wait=True)
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controller.set_cylinder_coords()
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print 'Left edge, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
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dummy = raw_input('Press any key to continue...')
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def test_movec(controller):
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print 'Going to home pose.'
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controller.move_to_home_pose()
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time.sleep(1)
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controller.movec(config.R_LVL0, config.THETA_EDGE_RIGHT, config.Z_LVL0, wait=True)
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controller.set_cylinder_coords()
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print 'Right edge, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
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dummy = raw_input('Press any key to continue...')
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controller.movec(config.R_LVL0, 0, config.Z_LVL0, wait=True)
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controller.set_cylinder_coords()
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print 'Middle, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
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dummy = raw_input('Press any key to continue...')
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controller.movec(config.R_LVL0, config.THETA_EDGE_LEFT, config.Z_LVL0, wait=True)
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controller.set_cylinder_coords()
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print 'Left edge, r-level 0, z-level 0. Cylinder coordinates: (%s)' % ','.join(['%.2f' % i for i in controller.current_cyl])
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dummy = raw_input('Press any key to continue...')
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def four_stories(controller):
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print "Initial block placement."
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print "On each side"
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print "\t(r0, edge, z0)"
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print "\t(r1, edge, z0)"
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# buffer some params
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edge_left = config.THETA_EDGE_LEFT
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edge_right = config.THETA_EDGE_RIGHT
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r_startpick = 1.3
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r_endpick = 0.1
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z_endpick = 0.5
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vel = 0.2
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acc = 1.1*vel
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moves = []
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moves.append(controller.blocklevel2move(0.5, 0, 0, acc, vel, 0))
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moves += controller.pick_block(1, edge_left, 0, acc, vel)
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moves += controller.place_block(0, 0, 0, acc, vel)
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moves += controller.pick_block(1, edge_right, 0, acc, vel)
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moves.append(controller.blocklevel2move(1.1, edge_right/2, 2, acc, vel, 0.15))
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moves += controller.place_block(0, 0, 1, acc, vel)
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moves += controller.pick_block(0, edge_left, 0, acc, vel)
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moves.append(controller.blocklevel2move(0.1, edge_left/2, 3, acc, vel, 0.15))
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moves += controller.place_block(0, 0, 2, acc, vel)
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moves += controller.pick_block(0, edge_right, 0, acc, vel)
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moves.append(controller.blocklevel2move(0.1, edge_right/2, 4, acc, vel, 0.15))
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moves += controller.place_block(0, 0, 3, acc, vel)
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moves.append(controller.blocklevel2move(1.5, 0, 0.1, acc, vel, 0))
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dummy = raw_input("Press enter to start...")
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print 'Exectuting loop'
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controller.exec_moves(moves, wait=False)
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looping = True
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while looping:
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looping = controller.is_looping(1.0) # blocks for 1 sec
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moves.reverse()
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controller.exec_moves(moves, wait=False)
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looping = True
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while looping:
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looping = controller.is_looping(1.0) # blocks for 1 sec
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def small_pyramid(controller):
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print "Initial block placement."
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print "On each side"
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print "\t(r0, edge, z0)"
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print "\t(r1, edge, z0)"
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print "\t(r0, edge, z1)"
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# buffer some params
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edge_left = config.THETA_EDGE_LEFT
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edge_right = config.THETA_EDGE_RIGHT
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r_startpick = 1.3
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r_endpick = 0.1
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z_endpick = 0.5
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vel = 0.2
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acc = 1.1*vel
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dtheta_lvl0 = config.BLOCK_DIM/config.R_LVL0 + math.pi/64 #medium gap
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moves = []
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moves.append(controller.blocklevel2move(0.5, 0, 0, acc, vel, 0)) #initial
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moves += controller.pick_block(0, edge_left, 1, acc, vel)
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moves.append(controller.blocklevel2move(0.1, edge_left/2, 2, acc, vel, 0.15))
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moves += controller.place_block(0, 0, 0, acc, vel)
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moves += controller.pick_block(0, edge_right, 1, acc, vel)
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moves.append(controller.blocklevel2move(0.1, (edge_right+dtheta_lvl0)/2, 2, acc, vel, 0.15))
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moves += controller.place_block(0, dtheta_lvl0, 0, acc, vel)
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moves.append(controller.blocklevel2move(1.1, (edge_left+dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
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moves += controller.pick_block(1, edge_left, 0, acc, vel)
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moves += controller.place_block(0, -dtheta_lvl0, 0, acc, vel)
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moves.append(controller.blocklevel2move(1.1, (edge_right-dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
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moves += controller.pick_block(1, edge_right, 0, acc, vel)
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moves.append(controller.blocklevel2move(1.1, edge_right/2, 2, acc, vel, 0.15))
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moves += controller.place_block(0, 0.5*dtheta_lvl0, 1, acc, vel)
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moves += controller.pick_block(0, edge_left, 0, acc, vel)
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moves.append(controller.blocklevel2move(0.1, edge_left/2, 2, acc, vel, 0.15))
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moves += controller.place_block(0, -0.5*dtheta_lvl0, 1, acc, vel)
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moves.append(controller.blocklevel2move(1.1, (edge_right-dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
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moves += controller.pick_block(0, edge_right, 0, acc, vel)
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moves.append(controller.blocklevel2move(0.1, edge_right/2, 3, acc, vel, 0.15))
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moves += controller.place_block(0, 0, 2, acc, vel)
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moves.append(controller.blocklevel2move(1.5, 0, 0.1, acc, vel, 0))
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dummy = raw_input("Press enter to start...")
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print 'Exectuting loop'
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controller.exec_moves(moves, wait=False)
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looping = True
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while looping:
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looping = controller.is_looping(1.0) # blocks for 1 sec
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moves.reverse()
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controller.exec_moves(moves, wait=False)
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looping = True
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while looping:
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looping = controller.is_looping(1.0) # blocks for 1 sec
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def unit_tests(func_list, controller):
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running = True
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while running:
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for i,tup in enumerate(func_list):
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print '(%d) %s' % (i, tup[0])
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c = raw_input('Select test or type q to quit... ')
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if c == 'q':
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running = False
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else:
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try:
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idx = int(c)
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f = func_list[idx][1]
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f(controller)
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except Exception, e:
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print e
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print traceback.format_exc()
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running = False
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if __name__ == '__main__':
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controller = None
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print "Initializing..."
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try:
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controller = DemoController(config)
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controller.calibrate_cylinder_sys()
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except Exception, e:
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print e
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print traceback.format_exc()
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tests = [
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("Check z-levels", check_z_levels),
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("Test unitary moves.", test_unitary_moves),
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("Test multi-directional moves", test_multi_moves),
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("Check loop constraints", check_loop_constraints),
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("Test URScript's movec", test_movec),
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("Build four stories high", four_stories),
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("Build small pyramid", small_pyramid)
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]
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unit_tests(tests, controller)
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time.sleep(1)
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if controller:
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controller.cleanup()
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sys.exit(0)
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