implement osc rtde output
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parent
fe51e12b69
commit
1399af5fbe
4 changed files with 217 additions and 6 deletions
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@ -1,3 +1,5 @@
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ur_rtde
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numpy
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windows-curses
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windows-curses
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python-osc
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netifaces
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@ -5,7 +5,7 @@ import math
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import rtde_control
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import rtde_receive
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rtde_r = rtde_receive.RTDEReceiveInterface("192.168.1.101")
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rtde_r = rtde_receive.RTDEReceiveInterface("192.168.2.165")
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@ -21,11 +21,12 @@ c=0
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scale=0.2
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rtde_c = rtde_control.RTDEControlInterface("192.168.1.101")
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rtde_c = rtde_control.RTDEControlInterface("192.168.2.165")
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#rtde_c.moveJ([-0.10, -0.5, 0.20, -0.001, 3.12, 0.04], 0.1, 0.1)
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#rtde_c.moveJ([-1.54, -1.83, -2.28, -0.59, 1.60, 0.023], 0.1, 0.1)
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rtde_c.moveJ([2.74, -1.45, -1.63, -1.63, 1.57, 4.31],0.1,0.1)
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rtde_c.moveJ(rtde_c.getInverseKinematics([-0.5,ycenter+math.cos(c)*scale,zcenter+math.sin(c)*scale,0.0,3.14159,0.0]), 0.1,0.1)
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rtde_c.moveJ([2.74, -1.27, -1.31, -1.68, 1.58, 4.31],0.1,0.1)
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#rtde_c.moveJ(rtde_c.getInverseKinematics([-0.5,ycenter+math.cos(c)*scale,zcenter+math.sin(c)*scale,0.0,3.14159,0.0]), 0.1,0.1)
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print("gefahren")
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@ -2,7 +2,7 @@ import rtde_control
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import time
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import math
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rtde_c = rtde_control.RTDEControlInterface("192.168.1.101")
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rtde_c = rtde_control.RTDEControlInterface("192.168.2.164")
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# Parameters
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velocity = 0.1 #0.5
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@ -47,7 +47,7 @@ for i in range(frequency*duration):
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cx=i/(frequency*duration) * 2 *3.1415 * 1
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cx%= (2*3.1415)
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joint_q=rtde_c.getInverseKinematics([xcenter+math.sin(cx)*0.2,ycenter+math.cos(c)*scale,zcenter+math.sin(c)*scale,0.0,3.14159,0.0])
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joint_q=rtde_c.getInverseKinematics([xcenter+math.sin(cx)*scale,ycenter+math.cos(c)*scale,zcenter+math.sin(c)*scale,0.0,3.14159,0.0])
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#print(joint_q)
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rtde_c.servoJ(joint_q, velocity, acceleration, dt, lookahead_time, gain)
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208
urosc.py
Normal file
208
urosc.py
Normal file
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@ -0,0 +1,208 @@
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import argparse
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from pythonosc import dispatcher
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from pythonosc import osc_server
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from pythonosc import udp_client
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import threading
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import time
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import math
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import curses
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from rtde_receive import RTDEReceiveInterface as RTDEReceive
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clients=None
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rtde_r=None
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def toRad(d):
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return d/360*2*math.pi
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def toDeg(r):
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return r*360/2/math.pi
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def mapFromTo(x,a,b,c,d):
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y=(x-a)/(b-a)*(d-c)+c
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return y
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def handle_received_osc(address, *args):
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print(f"Received OSC message on {address}")
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for arg in args:
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print(f"Data: {arg}")
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def setupOSC(ip, port):
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# Set up the dispatcher for the server
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disp = dispatcher.Dispatcher()
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disp.map("/filter", handle_received_osc) # You can change '/filter' to any address pattern you expect
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# Set up OSC server
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server = osc_server.ThreadingOSCUDPServer((ip, port), disp)
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print(f"Serving on {server.server_address}")
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server_thread = threading.Thread(target=server.serve_forever)
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server_thread.start()
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return server,server_thread
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def setupClients(clientips,port):
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clients = []
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# Set up OSC client
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for cip in clientips:
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print("connecting to "+str(cip))
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client = udp_client.SimpleUDPClient(cip, port)
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clients.append(client)
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return clients
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def setupRTDE(robotip,frequency):
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dt = 1 / frequency
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rtde_r = RTDEReceive(robotip, frequency)
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return rtde_r
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joint_min=[toRad(-360),toRad(-360),toRad(-360),toRad(-360),toRad(-360),toRad(0)]
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joint_max=[toRad(360),toRad(360),toRad(360),toRad(360),toRad(360),toRad(360)]
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def main(stdscr):
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"""Main entry point allowing external calls
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Args:
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args ([str]): command line parameter list
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"""
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# Clear and refresh the screen for a blank canvas
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stdscr.clear()
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stdscr.refresh()
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curses.cbreak()
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stdscr.keypad(1)
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stdscr.nodelay(1)
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# Start colors in curses
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curses.start_color()
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curses.init_pair(1, curses.COLOR_CYAN, curses.COLOR_BLACK)
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curses.init_pair(2, curses.COLOR_RED, curses.COLOR_BLACK)
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curses.init_pair(3, curses.COLOR_BLACK, curses.COLOR_WHITE)
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height, width = stdscr.getmaxyx()
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dt = 1 / args.frequency
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key = ''
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i = 0
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try:
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while key != ord('q'):
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key = stdscr.getch()
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stdscr.clear()
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start = time.time()
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q=rtde_r.getActualQ()
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for c in clients:
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for jointi in range(6):
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c.send_message("/j"+str(jointi), toDeg(q[jointi]))
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#print("sent "+str(jointi)+" = "+str(q[jointi]))
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#time.sleep(0.1)
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#print(q)
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#sys.stdout.write("\r")
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#sys.stdout.write("{:3d} samples.".format(i))
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#sys.stdout.flush()
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stdscr.addstr(0, 0, "test "+str(i), curses.color_pair(1))
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for j in range(6):
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posx=mapFromTo(q[j],joint_min[j],joint_max[j],0,width) #scale to screen width
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for px in range(width):
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diff=abs(posx-px)
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poschar=''
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if diff<3:
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poschar='.'
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if diff<2:
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poschar='i'
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if diff<0.5:
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poschar='|'
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if (len(poschar)>0):
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stdscr.addstr(2+j, px, poschar, curses.color_pair(1))
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valuetext=str(round(q[j],2))
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if q[j]>=0: #has no negative sign
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valuetext=" "+valuetext
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stdscr.addstr(2+j, 0, valuetext, curses.color_pair(1))
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# Refresh the screen
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stdscr.refresh()
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end = time.time()
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duration = end - start
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if duration < dt:
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time.sleep(dt - duration)
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i += 1
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except KeyboardInterrupt:
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print("\nData recording stopped.")
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curses.endwin()
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if __name__ == "__main__":
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parser = argparse.ArgumentParser()
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parser.add_argument("--listenip",
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default="127.0.0.1", help="The ip to listen on")
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parser.add_argument("--listenport",
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type=int, default=5005, help="The port to listen on")
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parser.add_argument("--clientip",
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default="127.0.0.1", help="The ip to connect to")
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parser.add_argument("--port",
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type=int, default=5005, help="The port to connect to")
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parser.add_argument("--robotip",
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default="127.0.0.1", help="The ip to connect to")
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parser.add_argument(
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"-f",
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"--frequency",
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dest="frequency",
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help="the frequency at which the data is recorded (default is 500Hz)",
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type=float,
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default=500.0,
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metavar="<frequency>")
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args = parser.parse_args()
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clientips=[args.clientip]
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server,server_thread=setupOSC(args.listenip, args.listenport)
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clients=setupClients(clientips,args.port)
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rtde_r=setupRTDE(args.robotip,args.frequency)
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curses.wrapper(main)
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input("Ended. Press Enter to shutdown")
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server.shutdown()
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server_thread.join()
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