implement tcp pose

urosc/helpfunctions.py

@@ -1,5 +1,5 @@
 import math
-
+import numpy as np
 
 def toRad(d):
     return d/360*2*math.pi
@@ -14,3 +14,35 @@ def mapFromTo(x,a,b,c,d):
 
 def constrain(v,_min,_max):
     return min(_max,max(_min,v))
+
+
+
+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

urosc/oscreceive.py

@@ -9,12 +9,39 @@ class OSCReceive:
     import threading 
     
 
-        
+    
-    def handle_received_osc_joint(self,address, *args):
+    def __init__(self,ip,port,_oscsend,_ur=None):
 
         
         self.server=None
         self.server_thread=None
+            
+        #osc receive statistics
+        self.oscreceiveintervals = np.zeros(100)
+        self.oscreceiveintervals_pos=0
+        self.last_oscreceive=0
+
+        self.ur = _ur
+        self.oscsend = _oscsend
+
+        self.debug="Nothing"
+
+        # Set up the dispatcher for the server 
+        disp = self.dispatcher.Dispatcher() 
+        disp.map("/joints", self.handle_received_osc_joint)
+        disp.map("/invkin", self.handle_received_osc_invkin) #just calculate inverse kinematics
+        disp.map("/movetcp", self.handle_received_osc_tcp) #calculaate inverse kinematics and move
+
+    
+        # Set up OSC server 
+        self.server = self.osc_server.ThreadingOSCUDPServer((ip, port), disp) 
+        print(f"Serving on {self.server.server_address}") 
+        self.server_thread = self.threading.Thread(target=self.server.serve_forever) 
+        self.server_thread.start() 
+    
+
+        
+    def handle_received_osc_joint(self,address, *args):
 
         self.oscreceiveintervals[self.oscreceiveintervals_pos]=time.time()-self.last_oscreceive
         self.last_oscreceive=time.time()
@@ -27,6 +54,7 @@ class OSCReceive:
             for iarg, arg in enumerate(args): 
                 #print(f"Data: {arg}") 
                 joint_q_aim[iarg]=toRad(float(arg))
+            self.debug=str(joint_q_aim)
         except:
             print("Data not in right format")
             print("Data: "+str(args)) 
@@ -34,6 +62,57 @@ class OSCReceive:
             if self.ur is not None:
                 self.ur.setJointQAim(joint_q_aim)
 
+    
+    def handle_received_osc_invkin(self,address, *args):
+
+        
+        tcp_aim=[0,0,0,0,0,0]
+        try:
+            for iarg, arg in enumerate(args): 
+                #print(f"Data: {arg}") 
+                tcp_aim[iarg]=float(arg)
+        except:
+            print("Data not in right format")
+            print("Data: "+str(args)) 
+            self.debug="Data not in right format: "+str(args)
+        else:
+            if self.ur is not None:
+                self.debug="tcp_aim"+str(tcp_aim)
+                #_rot=RPYtoVec(toRad(tcp_aim[3]),toRad(tcp_aim[4]),toRad(tcp_aim[5]))
+                _rot=toRad(tcp_aim[3]),toRad(tcp_aim[4]),toRad(tcp_aim[5])
+                pos_q=[tcp_aim[0],tcp_aim[1],tcp_aim[2],_rot[0],_rot[1],_rot[2]]
+                joint_q_ik=self.ur.getInverseKinematics(pos_q)
+                self.oscsend.sendMessage("/invkin/j",joint_q_ik)
+                self.debug="Send joints"+str(joint_q_ik)
+                
+    def getDebug(self):
+        return self.debug
+    
+    def handle_received_osc_tcp(self,address, *args):
+
+        self.oscreceiveintervals[self.oscreceiveintervals_pos]=time.time()-self.last_oscreceive
+        self.last_oscreceive=time.time()
+        self.oscreceiveintervals_pos+=1
+        self.oscreceiveintervals_pos%=np.size(self.oscreceiveintervals)
+        
+        tcp_aim=[0,0,0,0,0,0]
+        try:
+            for iarg, arg in enumerate(args): 
+                #print(f"Data: {arg}") 
+                tcp_aim[iarg]=float(arg)
+        except:
+            print("Data not in right format")
+            print("Data: "+str(args)) 
+        else:
+            if self.ur is not None:
+                _rot=RPYtoVec(toRad(tcp_aim[3]),toRad(tcp_aim[4]),toRad(tcp_aim[5]))
+                pos_q=[tcp_aim[0],tcp_aim[1],tcp_aim[2],_rot[0],_rot[1],_rot[2]]
+                joint_q_ik=self.ur.getInverseKinematics(pos_q)
+                joint_q_aim=joint_q_ik
+                self.ur.setJointQAim(joint_q_aim)
+                
+                
+
                 
 
     def getCurrentReceiveFrequency(self):
@@ -43,30 +122,8 @@ class OSCReceive:
         else:
             return 0
     
-    def __init__(self,ip,port,_ur=None):
-            
-        #osc receive statistics
-        self.oscreceiveintervals = np.zeros(100)
-        self.oscreceiveintervals_pos=0
-        self.last_oscreceive=0
-
-        self.ur = _ur
-
-
-        # Set up the dispatcher for the server 
-        disp = self.dispatcher.Dispatcher() 
-        disp.map("/joints", self.handle_received_osc_joint)  # You can change '/filter' to any address pattern you expect 
-    
-        # Set up OSC server 
-        self.server = self.osc_server.ThreadingOSCUDPServer((ip, port), disp) 
-        print(f"Serving on {self.server.server_address}") 
-        self.server_thread = self.threading.Thread(target=self.server.serve_forever) 
-        self.server_thread.start() 
-    
         
 
     def disconnect(self):
-        if self.server is not None:
+        self.server.shutdown() 
-            self.server.shutdown() 
+        self.server_thread.join() 
-        if self.server_thread is not None:
-            self.server_thread.join() 

urosc/oscsend.py

@@ -18,15 +18,24 @@ class OSCSend:
             self.oscreceivers.append(connection)
 
 
+    def sendMessage(self,address,value):
+        for c in self.oscreceivers:   
+            c.send_message(address,value)
     
-    def send(self,looptime,q):
+    def send(self,looptime,q,tcp):
     
-        if looptime-self.last_sendosc<1.0/self.frequency_oscsend:
+        if looptime-self.last_sendosc<1.0/self.frequency_oscsend:            
-            
             return
         
         self.last_sendosc=looptime
 
+
         for c in self.oscreceivers:                
-            for jointi,joint in enumerate(q):
+            joint_deg=[toDeg(x) for x in q]
-                c.send_message("/j"+str(jointi), toDeg(joint))
+            c.send_message("/j",joint_deg)
+            rx,ry,rz=RPYtoVec(tcp[3],tcp[4],tcp[5])
+            tcp_deg=[tcp[0],tcp[1],tcp[2],toDeg(rx),toDeg(ry),toDeg(rz)]
+            #tcp_deg=[tcp[0],tcp[1],tcp[2],toDeg(tcp[3]),toDeg(tcp[4]),toDeg(tcp[5])]
+            c.send_message("/tcp", tcp_deg)
+                
+                

urosc/ui.py

@@ -7,7 +7,7 @@ class UI:
 
     def __init__(self,_joint_min,_joint_max,_frequency_scr=25):
         self.stdscr=None
-        self.debugtext=["","",""]
+        self.debugtext=["","","",""]
         self.width=0
         self.height=0
         self.joint_min=_joint_min
@@ -55,11 +55,12 @@ class UI:
         self.key = self.stdscr.getch()
         self.stdscr.clear()
 
-        for i in range(3): #Print Debug text
+        for i in range(np.size(self.debugtext)): #Print Debug text
             self.stdscr.addstr(i, 0, self.debugtext[i], self.curses.color_pair(1))
         
         startbarsx=10
         endbarsx=self.width-1
+        starty=np.size(self.debugtext)
         for j in range(6):
             posx=mapFromTo(q[j],self.joint_min[j],self.joint_max[j],startbarsx,endbarsx) #scale to screen width
             for px in range(self.width):
@@ -77,11 +78,13 @@ class UI:
                     poschar="]"
                     
                 if (len(poschar)>0):
-                    self.stdscr.addstr(3+j, px, poschar, self.curses.color_pair(1))
+                    self.stdscr.addstr(starty+j, px, poschar, self.curses.color_pair(1))
             valuetext=str(round(toDeg(q[j]),2))
             if q[j]>=0: #has no negative sign
                 valuetext=" "+valuetext
-            self.stdscr.addstr(3+j, 0, valuetext, self.curses.color_pair(1))
+            self.stdscr.addstr(starty+j, 0, valuetext, self.curses.color_pair(1))
+
+
 
             
         # Refresh the screen

urosc/ur.py

@@ -21,6 +21,11 @@ class UR:
         self.rtde_r=None
         self.rtde_c=None
 
+            
+        self.last_forwardkinematics=None
+        self.last_forwardkinematics_joint_q_received=None
+        
+
                 
         # Parameters
         self.velocity = 0.1
@@ -29,11 +34,12 @@ class UR:
         self.gain = 300
         self.joint_q_aim=[0,0,0,0,0,0] #joint rotations aiming for
         self.joint_q = [0,0,0,0,0,0] #joint rotation last sent
-        #self.velocitylimit=[1,1,1,3,3,3] #joint velocity limits
+        self.velocitylimit=[1,1,1,3,3,3] #joint velocity limits
-        self.velocitylimit=[0.2,0.2,0.2,0.2,0.2,0.2] #joint velocity limits
+        #self.velocitylimit=[0.2,0.2,0.2,0.2,0.2,0.2] #joint velocity limits
 
 
         self.joint_q_received=[0,0,0,0,0,0]
+        self.tcppose_received=[0,0,0,0,0,0]
 
     def connect(self,robotip):
         
@@ -80,6 +86,7 @@ class UR:
 
         if self.rtde_r is not None:
             self.joint_q_received=self.rtde_r.getActualQ()
+            self.tcppose_received=self.rtde_r.getActualTCPPose()
         else:
             _offsets=[12.2,5.3,0,6,12.4,612.91]
             _factors=[1.2,1.14,1.214,0.9921,1,1.092]
@@ -110,6 +117,20 @@ class UR:
 
     def getReceivedQ(self):
         return self.joint_q_received
+    
+    '''def getForwardKinematics(self):
+        if self.last_forwardkinematics_joint_q_received!=self.joint_q_received:
+            self.last_forwardkinematics_joint_q_received=self.joint_q_received
+            self.last_forwardkinematics=self.rtde_c.getForwardKinematics(self.joint_q_received)
+
+        return self.last_forwardkinematics
+        '''
+    
+    def getReceivedTCPPose(self):
+        return self.tcppose_received
+    
+    def getInverseKinematics(self,pos_q):
+        return self.rtde_c.getInverseKinematics(pos_q,self.joint_q)
 
     def disconnect(self):
         if self.rtde_c is not None:

urosc/urosc.py

@@ -59,10 +59,10 @@ def main(stdscr):
             start = time.time()
             
             ur.receiveJoints(looptime)
-            ur.receiveStatus(looptime)
+            #ur.receiveStatus(looptime)
 
             #send data to all osc receivers
-            oscsend.send(looptime,ur.getReceivedQ())
+            oscsend.send(looptime,ur.getReceivedQ(),ur.getReceivedTCPPose())
 
             if ur is not None:
                 ur.send(looptime)
@@ -81,6 +81,11 @@ def main(stdscr):
             ui.setDebugtext(1,"loop usage="+str(round(np.mean(loopdurations)/loop_dt,3)))
             if oscreceive is not None:
                 ui.setDebugtext(2,"osc receive frequency="+str(round(oscreceive.getCurrentReceiveFrequency(),0)))
+            #ui.setDebugtext(3,"invkin"+str(ur.getForwardKinematics()))
+            tcp=ur.getReceivedTCPPose()
+            tcp_deg=[tcp[0],tcp[1],tcp[2],toDeg(tcp[3]),toDeg(tcp[4]),toDeg(tcp[5])]
+            #ui.setDebugtext(3,"osc test:"+str(oscreceive.getDebug())+"\t tcp_deg="+str(tcp_deg))
+            ui.setDebugtext(3,"osc test:"+str(oscreceive.getDebug()))
             
             if ui.getKey() == ord('e') and keyDown==False:
                 keyDown=True
@@ -148,12 +153,10 @@ if __name__ == "__main__":
 
 
     
- 
-    
     if args.test is not True:
         ur.connect(args.robotip)
 
-        oscreceive = OSCReceive(args.listenip, args.listenport,ur)    
+        oscreceive = OSCReceive(args.listenip, args.listenport,oscsend,ur)    
 
         oscsend.setupReceivers([args.oscsendip],args.oscsendport)