179 lines
6.8 KiB
Python
179 lines
6.8 KiB
Python
from Robot.UR.URRobot import URRobot
|
|
from time import sleep
|
|
import math
|
|
import threading
|
|
|
|
|
|
class URSentry:
|
|
def __init__(self, host):
|
|
self.robot = URRobot(host)
|
|
self.sentry_pose = [1.571, -1.571, 0.785, -0.785, -1.571, 1.318]
|
|
self.forward_pose = [1.571, -1.949, 1.974, -2.844, -1.571, 1.318]
|
|
self.robot_speed = [0, 0, 0, 0, 0, 0]
|
|
self.detections = []
|
|
|
|
# Flags
|
|
self.await_stop = False
|
|
self.await_stop_ticks = 0
|
|
|
|
self.send_to_zero_on_stop = False
|
|
|
|
# Smooth stopping
|
|
self.smooth_stop_delayed_call = None
|
|
|
|
def get_joint_angles(self) -> "list[float]":
|
|
"""
|
|
Get the current joint angles of the robot in degrees
|
|
"""
|
|
return self.robot.get_joint_angles_degrees()
|
|
|
|
def sentry_position(self, a=0.5, v=1.5):
|
|
self.robot.movej(self.sentry_pose, a=0.5, v=1.5)
|
|
|
|
def forward_position(self, a=0.5, v=1.5):
|
|
self.robot.movej(self.forward_pose, a, v)
|
|
|
|
def update_detections(self, detections):
|
|
self.detections = detections
|
|
|
|
def forward_position_to_base_angle_degrees(self, base_angle, a=0.5, v=1.5):
|
|
pose = self.forward_pose
|
|
pose[0] = math.radians(base_angle)
|
|
self.robot.movej(pose, a, v)
|
|
|
|
def set_base_speed(self, speed):
|
|
self.robot_speed[0] = speed
|
|
|
|
def set_neck_speed(self, speed):
|
|
self.robot_speed[4] = speed
|
|
|
|
def smooth_stop(self):
|
|
# print("Smooth stopping --------------------")
|
|
self.robot.speedj([0, 0, 0, 0, 0, 0], 1.5)
|
|
|
|
def lerp(self, a, b, t):
|
|
return a + t * (b - a)
|
|
|
|
def move_robot_base(self, joystick_pos_x: float):
|
|
"""
|
|
Move the robot based on a joystick input,
|
|
where the the center is (0, 0) and the bottom right corner is (1, 1).
|
|
|
|
Horizontally, the speed of the base is adjusted on how far left or right the detection is.
|
|
We take into account the maximum rotation limit, trying to slow down when nearing +-360 degrees,
|
|
and trying to never reach that point. If needed, the robot should attempt to do a full rotation the other way to keep following
|
|
the target.
|
|
This can be changed so we first change the horizontal "neck" (wrist_2) until it reaches a limit, and then rotate the base,
|
|
which would result in a more natural movement
|
|
|
|
Vertically, the speed of the vertical "neck" (wrist_1) is adjusted based on how far up or down the detection is.
|
|
We limit it's rotation to +- 45 degrees, as we do not need more to follow the target.
|
|
This can be changed in the future to acomplish more natural movements, by also adjusting the speed of the shoulder joint.
|
|
|
|
Movement is done entirely through speed control, which should result in a more fluid movement compared to pose control.
|
|
|
|
If flag await_stop is set True, we check if the current speed is 0 wait until all joints are stopped before moving again.
|
|
|
|
"""
|
|
# We omit all processing until the robot has stopped moving for a certain amount of calls ('ticks')
|
|
|
|
# print("Base Speed: ", self.robot_speed[0])
|
|
|
|
ticks_to_wait = 3
|
|
if self.await_stop:
|
|
print("Awaiting stop --------------------")
|
|
joint_speeds = self.robot.get_joint_speeds()
|
|
if all([speed == 0 for speed in joint_speeds]):
|
|
self.await_stop_ticks += 1
|
|
if self.await_stop_ticks > ticks_to_wait:
|
|
self.await_stop = False
|
|
self.await_stop_ticks = 0
|
|
return
|
|
|
|
if self.send_to_zero_on_stop:
|
|
print("Sending to zero --------------------")
|
|
self.await_stop = True
|
|
self.send_to_zero_on_stop = False
|
|
self.forward_position_to_base_angle_degrees(0)
|
|
return
|
|
|
|
# Cancel smooth stopping due to no input
|
|
if self.smooth_stop_delayed_call is not None:
|
|
self.smooth_stop_delayed_call.cancel()
|
|
self.smooth_stop_delayed_call = None
|
|
|
|
# # Center detections, so that the center of the image is (0, 0)
|
|
# # We also invert the y axis, so that the upper part of the image is positive
|
|
# # Thus: lower left corner is (-500, -500) and upper right corner is (500, 500)
|
|
# joystick_pos_x -= 500
|
|
# joystick_pos_y -= 500
|
|
# joystick_pos_y = -joystick_pos_y
|
|
|
|
# Deadzones where we still consider the target in the middle, to avoid jittering
|
|
horizontal_dead_zone_radius = 0.1
|
|
vertical_dead_zone_radius = 0.1
|
|
|
|
# Speeds for the base and neck joints
|
|
base_max_speed = 1.5
|
|
base_min_speed = 0.1
|
|
|
|
base_acceleration = 1.5
|
|
|
|
# Maximum and minimum angles
|
|
base_max_angle = 315
|
|
base_danger_angle = 340
|
|
|
|
if abs(joystick_pos_x) < horizontal_dead_zone_radius:
|
|
# We are in the deadzone, so we do not need to move the base, or stop moving it
|
|
if self.robot_speed[0] == 0:
|
|
return
|
|
self.set_base_speed(0)
|
|
|
|
else:
|
|
current_pose = self.get_joint_angles()
|
|
base_angle = current_pose[0]
|
|
# print("Base angle: ", base_angle)
|
|
# Check if we are past the maximum angle
|
|
if abs(base_angle) > base_max_angle:
|
|
# We are past the maximum angle, so we undo a rotation by sending to 0
|
|
self.send_to_zero_on_stop = True
|
|
self.await_stop = True
|
|
self.set_base_speed(0)
|
|
self.robot.speedj(self.robot_speed, base_acceleration, 1)
|
|
return
|
|
|
|
# We are not in the deadzone, so we need to move the base
|
|
# Calculate the speed based on the distance from the center
|
|
direction = math.copysign(1, joystick_pos_x)
|
|
base_speed = (
|
|
self.lerp(base_min_speed, base_max_speed, abs(joystick_pos_x))
|
|
* direction
|
|
)
|
|
self.set_base_speed(base_speed)
|
|
|
|
# Schedule smooth stop if no input is given for a second
|
|
self.smooth_stop_delayed_call = threading.Timer(
|
|
0.4, self.move_robot_base, args=[0]
|
|
)
|
|
self.smooth_stop_delayed_call.start()
|
|
|
|
print("Base speed: ", self.robot_speed[0], " Joystick: ", joystick_pos_x)
|
|
self.robot.speedj(self.robot_speed, base_acceleration, 1)
|
|
|
|
|
|
if __name__ == "__main__":
|
|
host = "172.22.114.160"
|
|
sentry = URSentry(host)
|
|
# sentry.sentry_position()
|
|
# sleep(3)
|
|
sentry.forward_position()
|
|
sleep(3)
|
|
sentry.robot.speedj([0.8, 0, 0, 0, 0, 0], 0.5, 3)
|
|
sleep(2)
|
|
sentry.smooth_stop()
|
|
sleep(2)
|
|
sentry.forward_position_to_base_angle_degrees(45)
|
|
|
|
# while True:
|
|
# print(sentry.robot.get_joint_speeds()[0])
|