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wuzirobot.py
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# coding=utf-8
from robotcontrol import *
from utils.logger import logger
import numpy as np
# tangent of camera cone
# x_tan = (0.1882 / 0.264)
# y_tan = (0.1407 / 0.264)
x_tan = (0.3145 / 0.61146)
y_tan = (0.2276 / 0.61146)
x_tan = (-0.3081872 / 0.61146)
y_tan = (-0.23820488 / 0.61146)
x_tan = (-0.3543237 / 0.61146)
y_tan = (-0.20480625 / 0.61146)
x_tan = (-0.3590276 / 0.61146)
y_tan = (-0.22420567 / 0.61146)
class WuziRobot(Auboi5Robot):
def __init__(self, logger):
Auboi5Robot.__init__(self)
self.logger = logger
self.zero_radian = (0.000000, 0.000000, 0.000000, 0.000000, 0.000000, 0.000000)
self.init_pos = (-0.2863222836800378, -0.3641882948297106, 0.6854579419026046)
self.init_ori = (0., 1., 0., 0.)
self.zero_z = 0.182
self.hello_position = (
0.6351768374443054, 0.2261800915002823, -0.46258947253227234, -0.513762354850769, -1.3836095333099365,
-0.9316167831420898)
def prepare(self, ip='192.168.1.1', port=8899):
# 创建并打印上下文
handle = self.create_context()
self.logger.info("robot.rshd={0}".format(handle))
result = self.connect(ip, port)
if result != RobotErrorType.RobotError_SUCC:
self.logger.info("connect server{0}:{1} failed.".format(ip, port))
raise RobotErrorType.RobotError_NotLogin
else:
# # 重新上电
# self.robot_shutdown()
#
# # 上电
# self.robot_startup()
#
# # 设置碰撞等级
# self.set_collision_class(7)
# 设置工具端电源为１２ｖ
# self.set_tool_power_type(RobotToolPowerType.OUT_12V)
# 设置工具端ＩＯ_0为输出
self.set_tool_io_type(RobotToolIoAddr.TOOL_DIGITAL_IO_0, RobotToolDigitalIoDir.IO_OUT)
# 获取工具端ＩＯ_0当前状态
tool_io_status = self.get_tool_io_status(RobotToolIoName.tool_io_0)
self.logger.info("tool_io_0={0}".format(tool_io_status))
# 设置工具端ＩＯ_0状态
self.set_tool_io_status(RobotToolIoName.tool_io_0, 1)
# 获取控制柜用户DI
io_config = self.get_board_io_config(RobotIOType.User_DI)
# 输出DI配置
self.logger.info(io_config)
# 获取控制柜用户DO
io_config = self.get_board_io_config(RobotIOType.User_DO)
# 输出DO配置
self.logger.info(io_config)
# 当前机械臂是否运行在联机模式
self.logger.info("self online mode is {0}".format(self.is_online_mode()))
joint_status = self.get_joint_status()
self.logger.info("joint_status={0}".format(joint_status))
# 初始化全局配置文件
self.init_profile()
# 设置关节最大加速度
self.set_joint_maxacc((1.5, 1.5, 1.5, 1.5, 1.5, 1.5))
# 设置关节最大加速度
self.set_joint_maxvelc((1.5, 1.5, 1.5, 1.5, 1.5, 1.5))
# 获取关节最大加速度
self.logger.info(self.get_joint_maxacc())
self.logger.info(self.get_current_waypoint())
self.set_tool_power_type(power_type=RobotToolPowerType.OUT_0V)
print(0)
def move_to_init(self):
cur_x, cur_y, cur_z = self.current_waypoint['pos']
if cur_z - self.zero_z < 0.05:
ik_result = self.inverse_kin(self.current_waypoint['joint'], (cur_x, cur_y, self.zero_z + 0.05),
self.current_waypoint['ori'])
self.move_line(ik_result['joint'])
logger.info("move to initial position")
ik_result = self.inverse_kin(self.current_waypoint['joint'], self.init_pos, self.init_ori)
self.move_joint(ik_result['joint'])
def move_to_zero_ori(self):
cur_x, cur_y, cur_z = self.current_waypoint['pos']
# if cur_z - self.zero_z < 0.05:
# ik_result = self.inverse_kin(self.current_waypoint['joint'], (cur_x, cur_y, self.zero_z + 0.05),
# self.current_waypoint['ori'])
# self.move_line(ik_result['joint'])
logger.info("move to zero ori")
ik_result = self.inverse_kin(self.current_waypoint['joint'], (cur_x, cur_y, cur_z - 0.3), self.init_ori)
if ik_result is None:
print 'ik_result is None'
else:
self.move_joint(ik_result['joint'])
def move_to_zero(self):
logger.info("move to zero position")
self.move_joint(self.zero_radian)
def move_to_zero_z(self):
dst_pos = list(self.current_waypoint['pos'])
dst_pos[2] = self.zero_z
ik_result = self.inverse_kin(self.current_waypoint['joint'], dst_pos, self.current_waypoint['ori'])
self.move_joint(ik_result['joint'])
@property
def current_waypoint(self):
return self.get_current_waypoint()
# def move_to_coord(self, x, y):
# # cam coord - tool coord
# dx, dy = -0.008347545641425695, -0.02856086342482178
# # the angle between cam and tool
# deg = -0.02031323269453471
#
# cur_x, cur_y, cur_z = self.current_waypoint['pos']
# cur_x = cur_x + dx
# cur_y = cur_y + dy
#
# x = x - 320
# y = y - 240
# # rotate
# xy = np.matmul(np.array([[np.cos(deg), np.sin(deg)], [-np.sin(deg), np.cos(deg)]]), np.array([[x], [y]]))
# x = xy[0, 0]
# y = xy[1, 0]
#
# cur_height = cur_z - self.zero_z + 0.104
# x_scale = cur_height * x_tan
# y_scale = cur_height * y_tan
# dst_x = cur_x - x*x_scale/320.
# dst_y = cur_y + y*y_scale/240.
#
# ik_result = self.inverse_kin(self.current_waypoint['joint'], (dst_x, dst_y, self.zero_z), self.current_waypoint['ori'])
# self.move_joint(ik_result['joint'])
def move_to_coord(self, x, y, lower=False):
xf, yf = 0.3145, 0.2276
x = (x - 320) / 320.
y = (y - 240) / 240.
cur_x, cur_y, cur_z = self.current_waypoint['pos']
# intrinsic
intri_mat = np.array([[-0.26025414, -0.11201902, 0.46335214],
[0.2190264, -0.07228895, 0.54456127],
[0.00456996, -0.23794995, 0.45977205]])
R = np.array([[0.88068247, 0.00276375, 0.27867976],
[0.02697515, 1.04405, 0.38250926],
[-0.5211914, -0.6277767, 0.4366236]])
t = np.array([-0.28089553, -0.3066029, 0.6314296])
intri_mat = np.array([[-0.23469193, -0.12249327, 0.44167835],
[0.21669582, -0.07273288, 0.5128718],
[0.07611477, -0.2007165, 0.4141666]])
R = np.array([[0.97371703, -0.10240156, 0.2761366],
[0.14718546, 1.0675778, 0.36602277],
[-0.38947088, -0.5786356, 0.44720966]])
t = np.array([-0.30965808, -0.30189404, 0.6920944])
# intri_mat = np.diag([xf, yf, 1])
cam_x, cam_y, cam_z = np.matmul(intri_mat, np.array([x, -y, -0.61146]))
dst_tool_coord = np.matmul(R, np.array([cam_x, cam_y, cam_z])) + t
dst_x = dst_tool_coord[0] - cur_x
dst_y = dst_tool_coord[1] - cur_y
ik_result = self.inverse_kin(self.current_waypoint['joint'], (dst_x, dst_y, self.zero_z + 0.05),
self.current_waypoint['ori'])
self.move_joint(ik_result['joint'])
if lower:
zz = 0.02
else:
zz = 0.01
ik_result = self.inverse_kin(self.current_waypoint['joint'], (dst_x, dst_y, self.zero_z - zz),
self.current_waypoint['ori'])
self.move_line(ik_result['joint'])
def catch_chess(self, x, y):
self.set_tool_power_type(power_type=RobotToolPowerType.OUT_0V)
self.move_to_coord(x, y, lower=True)
time.sleep(1)
self.move_to_init()
def release_chess(self, x, y):
self.move_to_coord(x, y)
self.set_tool_power_type(power_type=RobotToolPowerType.OUT_24V)
time.sleep(1)
self.move_to_init()
self.set_tool_power_type(power_type=RobotToolPowerType.OUT_0V)
def move_hello(self):
logger.info("move to hello position")
self.move_joint(self.hello_position)
def write_name(self, ):
pass
if __name__ == '__main__':
# 系统初始化
WuziRobot.initialize()
# 创建机械臂控制类
robot = WuziRobot(logger)
try:
robot.prepare()
robot.set_tool_power_type(power_type=RobotToolPowerType.OUT_0V)
import time
time.sleep(5)
robot.move_to_init()
robot.move_to_zero_z()
# robot.set_tool_power_type(power_type=RobotToolPowerType.OUT_24V)
robot.move_to_init()
robot.move_to_zero_z()
robot.set_tool_power_type(power_type=RobotToolPowerType.OUT_24V)
robot.move_to_init()
# 断开服务器链接
robot.disconnect()
except RobotError, e:
logger.error("{0} robot Event:{1}".format(robot.get_local_time(), e))
finally:
# 断开服务器链接
if robot.connected:
# 关闭机械臂
robot.robot_shutdown()
# 断开机械臂链接
robot.disconnect()
# 释放库资源
Auboi5Robot.uninitialize()
logger.info("{0} test completed.".format(Auboi5Robot.get_local_time()))