226 lines
6.2 KiB
Python
226 lines
6.2 KiB
Python
import rtde_control
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import time
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import math
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import socket
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import keyboard # pip install keyboard
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import numpy as np
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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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port =30002
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s.bind((host,port))
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s.listen(1) # Number of connections
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s.setblocking(False)
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client = None
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# Robot Control Stuff
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rtde_c = rtde_control.RTDEControlInterface("192.168.1.101")
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import rtde_receive
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rtde_r = rtde_receive.RTDEReceiveInterface("192.168.1.101")
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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 RPYtoVec(roll,pitch,yaw):
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yawMatrix = np.matrix([
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[math.cos(yaw), -math.sin(yaw), 0],
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[math.sin(yaw), math.cos(yaw), 0],
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[0, 0, 1]
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])
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pitchMatrix = np.matrix([
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[math.cos(pitch), 0, math.sin(pitch)],
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[0, 1, 0],
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[-math.sin(pitch), 0, math.cos(pitch)]
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])
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rollMatrix = np.matrix([
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[1, 0, 0],
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[0, math.cos(roll), -math.sin(roll)],
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[0, math.sin(roll), math.cos(roll)]
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])
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R = yawMatrix * pitchMatrix * rollMatrix
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theta = math.acos(((R[0, 0] + R[1, 1] + R[2, 2]) - 1) / 2)
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multi = 1 / (2 * math.sin(theta))
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rx = multi * (R[2, 1] - R[1, 2]) * theta
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ry = multi * (R[0, 2] - R[2, 0]) * theta
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rz = multi * (R[1, 0] - R[0, 1]) * theta
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return rx, ry, rz
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paused=False
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actual_q = rtde_r.getActualQ() #current joint rotations in radians.
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print("Actual Q:"+str(actual_q))
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#fw_actual_q = rtde_c.getForwardKinematics(actual_q)
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fw_actual_q = rtde_c.getForwardKinematics()
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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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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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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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rtde_c.moveJ(joint_q,0.2,0.1) #move to initial position
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# Parameters
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velocity = 0.2 #0.5
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acceleration = 0.1 #0.5
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frequency= 100
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dt = 1.0/frequency # 2ms
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lookahead_time = 0.1
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gain = 300
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speed=[1,1,1,3,3,3]
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def constrain(v,_min,_max):
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return min(_max,max(_min,v))
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print("Press s to start")
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print("Press q to stop")
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print("Press p to pause")
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while not keyboard.is_pressed("s"):
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if keyboard.is_pressed("q"):
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exit()
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time.sleep(0.1)
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print("Starting Servo")
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while not keyboard.is_pressed("q"):
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start = time.time()
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# Receive Socket stuff
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try:
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client, address = s.accept()
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print("Connected to", address)
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except socket.error:
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pass
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if client is not None:
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try:
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data = client.recv( 1024 ).decode( 'utf-8' )
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if data:
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lastdata=data.split('\n')
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#print("Received :", repr(data))
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if (len(lastdata)>1):
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splitdata=lastdata[-2].split(",")
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try:
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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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print("Pan="+str(pan)+" Tilt="+str(tilt))
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except ValueError:
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print("Not a float")
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except socket.error:
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pass
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# Robot Control stuff
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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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# rz+ = rotate CW
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reachable=rtde_c.isPoseWithinSafetyLimits(pos_q)
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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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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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if keyboard.is_pressed("p"):
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print("paused")
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paused=True
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if keyboard.is_pressed("s"):
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print("resumed")
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paused=False
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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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end = time.time()
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stepduration = end - start
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if stepduration < dt:
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time.sleep(dt - stepduration)
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print("Finished")
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rtde_c.servoStop()
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rtde_c.stopScript()
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s.close()
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