add base rotation
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a2b69f8188
commit
d0d4ad670d
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@ -10,6 +10,32 @@ pygame.init()
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screen = pygame.display.set_mode([500, 500])
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running = True
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c_border = (100,100,100)
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c_name=(200,200,200)
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c_cursor = (255,255,255)
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c_text=(255,255,255)
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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 text_to_screen(screen, text, x, y, size = 50,
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color = (200, 000, 000)):
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text = str(text)
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font = pygame.font.SysFont(None, size)
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text = font.render(text, True, color)
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screen.blit(text, (x, y))
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def drawBar(screen,_topleft,_size,_pos,_name,_text):
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pygame.draw.rect(screen, c_border, (_topleft[0],_topleft[1],_size[0],_size[1]))
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text_to_screen(screen,_name,_topleft[0],_topleft[1],_size[1],c_name)
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pygame.draw.line(screen, c_cursor, (_topleft[0]+_pos*_size[0],_topleft[1]),(_topleft[0]+_pos*_size[0],_topleft[1]+_size[1]))
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text_to_screen(screen,_text,_size[0]+_topleft[0],_topleft[1],_size[1],c_text)
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# Socket stuff
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s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
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host =""
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@ -74,8 +100,13 @@ print("forward Actual Q:"+str(fw_actual_q))
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joint_q=rtde_c.getInverseKinematics(fw_actual_q)
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print("Final Q:"+str(joint_q))
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winkellimit=45
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centerpos=[-0.895,-0.177,0.91]
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maxbasedeviation=20 # in degrees, maximum rotation deviation from 0°
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distfromcenter=0.9
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basedeviation=0
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centerpos=[math.cos(toRad(180))*distfromcenter,math.sin(toRad(180))*distfromcenter,0.91]
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#centerpos=[-0.895,-0.177,0.91]
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centerrotRPY=[-1.572,0,1.572] #roll, pitch, yaw
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pan=0 #-=left, +=right, degrees
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@ -84,13 +115,6 @@ tilt=0 #-=down, +=up, degrees
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joint_q_init=[0,toRad(-90),toRad(90),toRad(-180),toRad(-90),toRad(0)] #start position
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joint_q=joint_q_init
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'''
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_rot=RPYtoVec(centerrotRPY[0],centerrotRPY[1],centerrotRPY[2])
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pos_q=[centerpos[0],centerpos[1],centerpos[2],_rot[0],_rot[1],_rot[2]]
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joint_q2=rtde_c.getInverseKinematics(pos_q,joint_q_init)
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print("Ninal Q:"+str(joint_q2))
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'''
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#rtde_c.moveJ([0,toRad(-90),toRad(90-tilt/2),toRad(-180-tilt/2),toRad(-90-pan),toRad(0)],0.1,0.1)
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@ -162,7 +186,7 @@ while running:
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_pan=float(splitdata[0])
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_tilt=float(splitdata[1])
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winkellimit=45
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if _pan>=-winkellimit and _pan <=winkellimit and _tilt>=-winkellimit and _tilt <=winkellimit:
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pan=_pan
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tilt=_tilt
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@ -175,9 +199,15 @@ while running:
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# Robot Control stuff
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if not paused:
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basedeviation=min(maxbasedeviation,max(-maxbasedeviation,basedeviation+pan*1/frequency))
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baserotation=toRad(180-basedeviation) #positive is ccw
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centerpos=[math.cos(baserotation)*distfromcenter,math.sin(baserotation)*distfromcenter,0.91]
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_rot=RPYtoVec(centerrotRPY[0]+toRad(tilt),centerrotRPY[1],centerrotRPY[2]+toRad(-pan))
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pos_q=[centerpos[0],centerpos[1],centerpos[2],_rot[0],_rot[1],_rot[2]]
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joint_q_aim=rtde_c.getInverseKinematics(pos_q,joint_q_init)
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#joint_q_aim = rtde_c.getInverseKinematics([-0.895,-0.173,0.911,2.4,2.4,2.4])
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# inverse kinematics: rx+ =look up
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# ry+ = look right
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@ -187,41 +217,39 @@ while running:
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if not reachable:
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print("Reachable:"+str(reachable))
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insideJointConstraints=True
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if joint_q_aim[0]<toRad(-20) or joint_q_aim[0]>toRad(20):
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print("Joint 0 Outside constraint with "+str(joint_q_aim[0])+" ("+str(toDeg(joint_q_aim[0]))+")")
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insideJointConstraints=False
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if joint_q_aim[1]<toRad(-90-40) or joint_q_aim[1]>toRad(-90+40):
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print("Joint 1 Outside constraint with "+str(joint_q_aim[1])+" ("+str(toDeg(joint_q_aim[1]))+")")
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insideJointConstraints=False
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if joint_q_aim[2]<toRad(90-90) or joint_q_aim[2]>toRad(90+40):
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print("Joint 2 Outside constraint with "+str(joint_q_aim[2])+" ("+str(toDeg(joint_q_aim[2]))+")")
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insideJointConstraints=False
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if joint_q_aim[3]<toRad(-180-80) or joint_q_aim[3]>toRad(-180+110):
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print("Joint 3 Outside constraint with "+str(joint_q_aim[3])+" ("+str(toDeg(joint_q_aim[3]))+")")
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insideJointConstraints=False
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if joint_q_aim[4]<toRad(-90-70) or joint_q_aim[4]>toRad(-90+70):
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print("Joint 4 Outside constraint with "+str(joint_q_aim[4])+" ("+str(toDeg(joint_q_aim[4]))+")")
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insideJointConstraints=False
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if joint_q_aim[5]<toRad(0-60) or joint_q_aim[5]>toRad(0+60):
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print("Joint 5 Outside constraint with "+str(joint_q_aim[5])+" ("+str(toDeg(joint_q_aim[5]))+")")
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insideJointConstraints=False
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joint_min=[toRad(-90),toRad(-90-40),toRad(90-90),toRad(-180-80),toRad(-90-90),toRad(0-75)]
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joint_max=[toRad(90),toRad(-90+40),toRad(90+40),toRad(-180+110),toRad(-90+90),toRad(0+75)]
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for i in range(6):
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if joint_q_aim[i]<joint_min[i] or joint_q_aim[i]>joint_max[i]:
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print("Joint "+str(i)+" Outside constraint with "+str(joint_q_aim[i])+" ("+str(toDeg(joint_q_aim[i]))+")")
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insideJointConstraints=False
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if reachable and insideJointConstraints and not paused:
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for i in range(6):
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joint_q[i] += constrain(joint_q_aim[i]-joint_q[i], -speed[i]/frequency,speed[i]/frequency) #constrain joint speeds
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#print(joint_q)
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if not paused:
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rtde_c.servoJ(joint_q, velocity, acceleration, dt, lookahead_time, gain)
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screen.fill((255, 255, 255))
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pygame.draw.circle(screen, (0, 0, 255), (250, 250), 75)
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screen.fill((0,0,0))
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#pygame.draw.circle(screen, (0, 0, 255), (250, 250), 75)
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jointnames=["Base","Shoulder","Elbow","Wrist1","Wrist2","Wrist3"]
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for i in range(6):
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drawBar(screen,(10,10+30*i),(100,20),mapFromTo(joint_q[i],joint_min[i],joint_max[i],0.0,1.0),jointnames[i],str(round(toDeg(joint_q[i]),2))+"°")
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drawBar(screen,(10,10+30*8),(100,20),mapFromTo(basedeviation,-maxbasedeviation,maxbasedeviation,0.0,1.0),"basedeviation",str(round(basedeviation,2))+"°")
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pygame.display.flip()
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end = time.time()
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@ -241,4 +269,3 @@ rtde_c.stopScript()
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s.close()
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