UGA-Innovation-Factory
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UR10-Sentry
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This commit is contained in:
Tomás L 2024-07-19 15:14:52 -04:00
parent d47413de71
commit 685c1db246
4 changed files with 9 additions and 5 deletions
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1
.gitignore vendored
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@ -1,2 +1,3 @@
.env .env
__pycache__/ __pycache__/
venv*

3
BBoxProcessor.py
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@ -16,6 +16,7 @@ class BBoxProcessor:
closest_box = self.get_box_closest_to_center(new_boxes) closest_box = self.get_box_closest_to_center(new_boxes)
if closest_box is None: if closest_box is None:
return [0, 0] return [0, 0]
print("Closest box: ", closest_box, "All: ", new_boxes)
return self.get_normalized_box_position(closest_box) return self.get_normalized_box_position(closest_box)
def bbox_distance(self, box1: list, box2: list) -> float: def bbox_distance(self, box1: list, box2: list) -> float:
@ -82,4 +83,4 @@ class BBoxProcessor:
""" """
Returns the normalized position of a bounding box, shringking its range from 0 to 1000 to 0 to 1 Returns the normalized position of a bounding box, shringking its range from 0 to 1000 to 0 to 1
""" """
return [(box[0] + box[2] / 2) / 500.0 - 1, (box[1] + box[3] / 2) / 500 - 1] return [round((box[0] + box[2] / 2) / 500.0 - 1, 3), round((box[1] + box[3] / 2) / 500 - 1, 3)]

8
URSentry.py
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@ -81,6 +81,7 @@ class URSentry:
ticks_to_wait = 10 ticks_to_wait = 10
if self.await_stop: if self.await_stop:
print("Awaiting stop --------------------")
joint_speeds = self.robot.get_joint_speeds() joint_speeds = self.robot.get_joint_speeds()
if all([speed == 0 for speed in joint_speeds]): if all([speed == 0 for speed in joint_speeds]):
self.await_stop_ticks += 1 self.await_stop_ticks += 1
@ -90,6 +91,7 @@ class URSentry:
return return
if self.send_to_zero_on_stop: if self.send_to_zero_on_stop:
print("Sending to zero --------------------")
self.await_stop = True self.await_stop = True
self.send_to_zero_on_stop = False self.send_to_zero_on_stop = False
self.forward_position_to_base_angle_degrees(0) self.forward_position_to_base_angle_degrees(0)
@ -111,8 +113,8 @@ class URSentry:
vertical_dead_zone_radius = 0.1 vertical_dead_zone_radius = 0.1
# Speeds for the base and neck joints # Speeds for the base and neck joints
base_max_speed = 0.8 base_max_speed = 1.1
base_min_speed = 0.3 base_min_speed = 0.2
base_acceleration = 1.5 base_acceleration = 1.5
@ -154,7 +156,7 @@ class URSentry:
) )
self.smooth_stop_delayed_call.start() self.smooth_stop_delayed_call.start()
# print("Robot speed: ", self.robot_speed) print("Robot speed: ", self.robot_speed)
self.robot.speedj(self.robot_speed, base_acceleration, 1) self.robot.speedj(self.robot_speed, base_acceleration, 1)

2
main.py
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@ -26,7 +26,7 @@ class CameraJoystick(threading.Thread):
def run(self): def run(self):
while self.keep_running: while self.keep_running:
bb = b.get_joystick_position_from_new_set_of_bboxes(q.get()) bb = b.get_joystick_position_from_new_set_of_bboxes(q.get())
print(bb) #print(bb)
self.joystick_queue.put(bb) self.joystick_queue.put(bb)
def stop(self): def stop(self):