urcontrol/tests/pantilt_inv.py

import rtde_control
import time
import math
import socket
import keyboard # pip install keyboard
import numpy as np

# Socket stuff
s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
host =""
port =30002
s.bind((host,port))
s.listen(1) # Number of connections
s.setblocking(False)
client = None


# Robot Control Stuff

rtde_c = rtde_control.RTDEControlInterface("192.168.1.101")

import rtde_receive
rtde_r = rtde_receive.RTDEReceiveInterface("192.168.1.101")

def toRad(d):
    return d/360*2*math.pi

def toDeg(r):
    return r*360/2/math.pi


def RPYtoVec(roll,pitch,yaw):
    yawMatrix = np.matrix([
    [math.cos(yaw), -math.sin(yaw), 0],
    [math.sin(yaw), math.cos(yaw), 0],
    [0, 0, 1]
    ])

    pitchMatrix = np.matrix([
    [math.cos(pitch), 0, math.sin(pitch)],
    [0, 1, 0],
    [-math.sin(pitch), 0, math.cos(pitch)]
    ])

    rollMatrix = np.matrix([
    [1, 0, 0],
    [0, math.cos(roll), -math.sin(roll)],
    [0, math.sin(roll), math.cos(roll)]
    ])

    R = yawMatrix * pitchMatrix * rollMatrix

    theta = math.acos(((R[0, 0] + R[1, 1] + R[2, 2]) - 1) / 2)
    multi = 1 / (2 * math.sin(theta))

    rx = multi * (R[2, 1] - R[1, 2]) * theta
    ry = multi * (R[0, 2] - R[2, 0]) * theta
    rz = multi * (R[1, 0] - R[0, 1]) * theta

    return rx, ry, rz

paused=False

actual_q = rtde_r.getActualQ() #current joint rotations in radians.
print("Actual Q:"+str(actual_q))
#fw_actual_q = rtde_c.getForwardKinematics(actual_q)
fw_actual_q = rtde_c.getForwardKinematics()
print("forward Actual Q:"+str(fw_actual_q))
joint_q=rtde_c.getInverseKinematics(fw_actual_q)
print("Final Q:"+str(joint_q))


centerpos=[-0.895,-0.177,0.91]
centerrotRPY=[-1.572,0,1.572] #roll, pitch, yaw

pan=0 #-=left, +=right, degrees
tilt=0 #-=down, +=up, degrees

joint_q_init=[0,toRad(-90),toRad(90),toRad(-180),toRad(-90),toRad(0)]   #start position
joint_q=joint_q_init

'''
_rot=RPYtoVec(centerrotRPY[0],centerrotRPY[1],centerrotRPY[2])
pos_q=[centerpos[0],centerpos[1],centerpos[2],_rot[0],_rot[1],_rot[2]]

joint_q2=rtde_c.getInverseKinematics(pos_q,joint_q_init)
print("Ninal Q:"+str(joint_q2))
'''

#rtde_c.moveJ([0,toRad(-90),toRad(90-tilt/2),toRad(-180-tilt/2),toRad(-90-pan),toRad(0)],0.1,0.1)

rtde_c.moveJ(joint_q,0.2,0.1) #move to initial position


# Parameters


velocity = 0.2   #0.5
acceleration = 0.1   #0.5
frequency= 100
dt = 1.0/frequency  # 2ms
lookahead_time = 0.1
gain = 300

speed=[1,1,1,3,3,3]



def constrain(v,_min,_max):
    return min(_max,max(_min,v))

print("Press s to start")
print("Press q to stop")
print("Press p to pause")
while not keyboard.is_pressed("s"):
    if keyboard.is_pressed("q"):
        exit()
    time.sleep(0.1)

print("Starting Servo")
while not keyboard.is_pressed("q"):
    
    start = time.time()

    # Receive Socket stuff
    try:
        client, address = s.accept()
        print("Connected to", address)

    except socket.error:
        pass

    if client is not None:
        try:
            data = client.recv( 1024 ).decode( 'utf-8' )
            if data:
                lastdata=data.split('\n')
                #print("Received :", repr(data))
                if (len(lastdata)>1):
                    splitdata=lastdata[-2].split(",")
                
                    try:
                        _pan=float(splitdata[0])
                        _tilt=float(splitdata[1])

                        winkellimit=45
                        if _pan>=-winkellimit and _pan <=winkellimit and _tilt>=-winkellimit and _tilt <=winkellimit:
                            pan=_pan
                            tilt=_tilt

                        print("Pan="+str(pan)+" Tilt="+str(tilt))
                    except ValueError:
                        print("Not a float")
        except socket.error:
            pass


    # Robot Control stuff
    _rot=RPYtoVec(centerrotRPY[0]+toRad(tilt),centerrotRPY[1],centerrotRPY[2]+toRad(-pan))
    pos_q=[centerpos[0],centerpos[1],centerpos[2],_rot[0],_rot[1],_rot[2]]
    joint_q_aim=rtde_c.getInverseKinematics(pos_q,joint_q_init)
    #joint_q_aim = rtde_c.getInverseKinematics([-0.895,-0.173,0.911,2.4,2.4,2.4])
    # inverse kinematics: rx+ =look up
    # ry+ = look right
    # rz+ = rotate CW

    reachable=rtde_c.isPoseWithinSafetyLimits(pos_q)
    if not reachable:
        print("Reachable:"+str(reachable))

    insideJointConstraints=True
    if joint_q_aim[0]<toRad(-20) or joint_q_aim[0]>toRad(20):
        print("Joint 0 Outside constraint with "+str(joint_q_aim[0])+" ("+str(toDeg(joint_q_aim[0]))+")")
        insideJointConstraints=False
    if joint_q_aim[1]<toRad(-90-40) or joint_q_aim[1]>toRad(-90+40):
        print("Joint 1 Outside constraint with "+str(joint_q_aim[1])+" ("+str(toDeg(joint_q_aim[1]))+")")
        insideJointConstraints=False
    if joint_q_aim[2]<toRad(90-90) or joint_q_aim[2]>toRad(90+40):
        print("Joint 2 Outside constraint with "+str(joint_q_aim[2])+" ("+str(toDeg(joint_q_aim[2]))+")")
        insideJointConstraints=False
    if joint_q_aim[3]<toRad(-180-80) or joint_q_aim[3]>toRad(-180+110):
        print("Joint 3 Outside constraint with "+str(joint_q_aim[3])+" ("+str(toDeg(joint_q_aim[3]))+")")
        insideJointConstraints=False
    if joint_q_aim[4]<toRad(-90-70) or joint_q_aim[4]>toRad(-90+70):
        print("Joint 4 Outside constraint with "+str(joint_q_aim[4])+" ("+str(toDeg(joint_q_aim[4]))+")")
        insideJointConstraints=False
    if joint_q_aim[5]<toRad(0-60) or joint_q_aim[5]>toRad(0+60):
        print("Joint 5 Outside constraint with "+str(joint_q_aim[5])+" ("+str(toDeg(joint_q_aim[5]))+")")
        insideJointConstraints=False


    if reachable and insideJointConstraints and not paused:
        for i in range(6):
            joint_q[i] += constrain(joint_q_aim[i]-joint_q[i], -speed[i]/frequency,speed[i]/frequency) #constrain joint speeds
        


    if keyboard.is_pressed("p"):
        print("paused")
        paused=True
    if keyboard.is_pressed("s"):
        print("resumed")
        paused=False
    
    #print(joint_q)

    rtde_c.servoJ(joint_q, velocity, acceleration, dt, lookahead_time, gain)
    
    end = time.time()
    stepduration = end - start
    
    if stepduration < dt:
        time.sleep(dt - stepduration)

print("Finished")

rtde_c.servoStop()
rtde_c.stopScript()





s.close()