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robotSim.py
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robotSim.py
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"""
Author: Konstantinos Angelopoulos
Date: 04/02/2020
All rights reserved.
Feel free to use and modify and if you like it give it a star.
Handles the simulation and communication with the robot.
"""
# Offset of camera center from the origin of the coordinate system of kinect
OFFSET_RGB = 95 # mm
OFFSET_DEPTH = 65 # mm
CLOUD_RESET_RADIUS = 100 # mm
PARTICLE_RADIUS = 30 # mm
# KUKA LWR IV+ Joint angle limits
ORIGINAL_LOWER_LIMITS = [-170, -30, -170, -120, -170, -120, -170]
ORIGINAL_UPPER_LIMITS = [170, 210, 170, 120, 170, 120, 170]
MODIFIED_LOWER_LIMITS = [-170, -30, -170, -170, -170, -170, -170]
MODIFIED_UPPER_LIMITS = [170, 210, 170, 170, 170, 170, 170]
def init(speed, focal_length, field_of_view, fabric_center, fabric_points, fabric_width, fabric_height, world_kalman_points, kinect_distance_from_plane, kinect_tilt, check_col=True):
"""
Reset and initialize RoboDK workspace
:param speed: float robot iso speed
:param focal_length: float kinect focal length
:param field_of_view: float kinect field of view
:param fabric_center: list with fabric center coordinates
:param fabric_points: list with fabric edge point coordinates
:param fabric_width: float fabric width
:param fabric_height: float fabric height
:param world_kalman_points: list with world kalman coordinates
:param kinect_distance_from_plane: float kinect height from floor plane
:param kinect_tilt: float kinect tilt angle from floor plane
:param check_col: boolean to check for collisions
:return: link to the RoboDK instance, Item robot in robodk, Item pose, Item hand, Item kinect, Item gripper, Item bottom right, Item bottom left, Item top left, Item top right
"""
# Import libraries here for optimization
from robolink.robolink import Robolink, ITEM_TYPE_ROBOT
from robodk.robodk import KUKA_2_Pose, Pose_2_KUKA, transl, rotx
import sys
import numpy as np
import os
# Interactions with Robot
RDK = Robolink()
# Turn off automatic rendering (faster simulation)
RDK.Render(False)
# Initialize robot
# Search all items for a valid robot type (assumes only one robot is loaded)
robot = None
for station in RDK.ItemList():
for item in station.Childs():
if item.type == ITEM_TYPE_ROBOT:
robot = item
break
if robot is not None:
break
if not robot.Valid():
print("[ROBODK]: No robot is loaded to the station")
raise Exception("[ROBODK]: No Robot found!!")
# Check Home, Targets and Items Loaded
home = RDK.Item('Home') # Home
pose = RDK.Item('Target') # Target
sheet = RDK.Item('Sheet') # Sheet item
br = RDK.Item('Bottom Right') # Bottom Right Corner of Fabric
bl = RDK.Item('Bottom Left') # Bottom Left Corner of Fabric
tl = RDK.Item('Top Left') # Top Left Corner of Fabric
tr = RDK.Item('Top Right') # Top Right Corner of Fabric
kinect = RDK.Item('Kinect') # Get Kinect
hand = RDK.Item('Hand') # Get Hand model
gripper = RDK.Item('Gripper') # Get Gripper model
light = RDK.Item('Light Source') # Get Light Source
# Check if everything is loaded correctly
if home.type == -1 or pose.type == -1 or sheet.type == -1 or bl.type == -1 or tl.type == -1 or tr.type == -1 or br.type == -1 or kinect.type == -1 or hand.type == -1 or gripper.type == -1 or light.type == -1:
sys.exit('[ROBODK]: Cannot obtain simulation items: Check if everything is loaded')
# Always start from home
try:
# Move to Home
robot.setJoints([0, 90, 0, 0, 0, 0])
except Exception as e:
print(f'[ROBODK]: Cant Move Robot Home\n{e}')
# Initialize Kinect
# Check Kinect Tilt angle
temp_kinect = Pose_2_KUKA(kinect.Pose())
kinect.setPose(KUKA_2_Pose(list((temp_kinect[0], temp_kinect[1], temp_kinect[2], temp_kinect[3], temp_kinect[4], -90 + kinect_tilt))))
# Check kinect height
actual_height = Pose_2_KUKA(kinect.Pose())
if (actual_height[2] - kinect_distance_from_plane) <= 50:
# kinect.setPose(KUKA_2_Pose(list((690, -1770, kinect_distance_from_plane, 0, 0, -90 + kinect_tilt))))
kinect.setPose(KUKA_2_Pose(list((temp_kinect[0], temp_kinect[1], temp_kinect[2], temp_kinect[3], temp_kinect[4], -90 + kinect_tilt))))
else:
# kinect.setPose(KUKA_2_Pose(list((690, -1770, 2150-kinect_distance_from_plane/100, 0, 0, -90 + kinect_tilt))))
kinect.setPose(KUKA_2_Pose(list((temp_kinect[0], temp_kinect[1], temp_kinect[2], temp_kinect[3], temp_kinect[4], -90 + kinect_tilt))))
# Reset Sheet
sheet.Delete()
sheet = RDK.AddFile(os.path.join(os.path.dirname(os.path.realpath(__file__)), 'Models/Sheet.stl'))
sheet.setPose(KUKA_2_Pose(list((635, 0, 770, 90, 0, 0))))
sheet.setColor([255/255, 170/255, 127/255, 1])
# Reset Fabric Points
"""!---------Targets are with respect to the Robot Base Reference so its better to use setPoseAbs() to keep everything in the universal coordinate system---------!"""
br.setPoseAbs(KUKA_2_Pose(list((785, -250, 770, 45, -180, -15))))
bl.setPoseAbs(KUKA_2_Pose(list((485, -250, 770, -45, 180, -15))))
tl.setPoseAbs(KUKA_2_Pose(list((485, 250, 770, 45, 0, 180-15))))
tr.setPoseAbs(KUKA_2_Pose(list((785, 250, 770, -45, 0, 180-15))))
# Reset Hand
hand.setPose(KUKA_2_Pose(list((500, 1000, 1400, -90, 0, 0))))
# Reset Target
pose.setPose(KUKA_2_Pose(list((600, 250, 750, 0, 0, -90))))
# It is important to provide the reference frame and the tool frames when generating programs offline
robot.setPoseFrame(robot.PoseFrame())
robot.setPoseTool(robot.PoseTool())
# Define Light Source
light.setPoseAbs(KUKA_2_Pose(list((1000, 0, 2500, 0, 205, 0))))
# Define Camera
# Close all cameras just in case
RDK.Cam2D_Close()
# Pick which items will act as the camera
# camref = RDK.ItemUserPick('Select the camera')
# Use the GLSL files for more realistic camera view from inside the RoboDK software
file_shader_fragment = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'RoboDK/KUKA/Camera-Shaders/shader_fragment.glsl')
file_shader_vertex = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'RoboDK/KUKA/Camera-Shaders/shader_vertex.glsl')
# Add Camera
"""
# -------------Set parameters in mm and degrees-------------------------
# FOV: Field of view in degrees (atan(0.5*height/distance) of the sensor
# FOCAL_LENGTH: focal length in mm
# FAR_LENGTH: maximum working distance (in mm)
# SIZE: size of the window in pixels (fixed) (width x height)
# SNAPSHOT: size of the snapshot image in pixels (width x height)
# BG_COLOR: background color (rgb color or named color: AARRGGBB)
# LIGHT_AMBIENT: ambient color (rgb color or named color: AARRGGBB)
# LIGHT_SPECULAR: specular color (rgb color or named color: AARRGGBB)
# LIGHT_DIFFUSE: diffuse color (rgb color or named color: AARRGGBB)
# DEPTH: Add this flag to create a 32 bit depth map (white=close, black=far)
# NO_TASKBAR: Don't add the window to the task bar
# MINIMIZED: Show the window minimized
# ALWAYS_VISIBLE: Keep the window on top of all other windows
# SHADER_VERTEX: File to a vertex shader (GLSL file)
# SHADER_FRAGMENT: File to a fragment shader (GLSL file)
"""
# cam_id = RDK.Cam2D_Add(kinect, 'FOCAL_LENGTH=' + str(focal_length) + ' FOV=' + str(field_of_view) + ' FAR_LENGTH=4500 SIZE=548x308 BG_COLOR=black LIGHT_AMBIENT=red LIGHT_DIFFUSE=black LIGHT_SPECULAR=white ALWAYS_VISIBLE')
# RDK.Cam2D_Add(kinect, 'FOCAL_LENGTH=' + str(focal_length) + ' FOV=' + str(field_of_view) + ' FAR_LENGTH=4500 SIZE=548x308 BG_COLOR=black LIGHT_AMBIENT=red LIGHT_DIFFUSE=black LIGHT_SPECULAR=white TASKBAR ALWAYS_VISIBLE')
RDK.Cam2D_Add(kinect, 'FOCAL_LENGTH=' + str(focal_length) + ' FOV=' + str(field_of_view) + ' FAR_LENGTH=4500 SIZE=512x424 BG_COLOR=black SHADER_FRAGMENT=' + file_shader_fragment + ' SHADER_VERTEX=' + file_shader_vertex + ' MINIMIZED')
# Special command to retrieve the window ID:
# win_id = RDK.Command("CamWinID", str(cam_id))
# Take snapshot
# RDK.Cam2D_Snapshot(RDK.getParam('PATH_OPENSTATION') + "/Kinect_snapshot.png", cam_id)
"""
!------------------THE POSE OF AN ITEM/OBJECT/TARGET IS WITH RESPECT TO ITS PARENT------------------!
"""
# Define fabric origins
kinect_pos = Pose_2_KUKA(kinect.Pose())
# Initialise hand origin as detected from kinect camera
# hand.setPose(KUKA_2_Pose(list((kinect_pos[0] - world_kalman_points[0], kinect_pos[1] + world_kalman_points[2], kinect_pos[2] + world_kalman_points[1] + np.sin(kinect_tilt*np.pi/180)*world_kalman_points[2], -90, 0, 0))))
hand_temp = Pose_2_KUKA(kinect.Pose()*transl(-world_kalman_points[0] + OFFSET_DEPTH, -world_kalman_points[1], world_kalman_points[2]))
hand.setPose(KUKA_2_Pose(list((hand_temp[0], hand_temp[1], hand_temp[2], -90, 0, 0))))
# Original Position = (660, 240, 426, 90, 0, 0)
# sheet.setPose(KUKA_2_Pose(list((kinect_pos[0] - fabric_center[0], kinect_pos[1] + fabric_center[2], kinect_pos[2] + fabric_center[1] + np.sin(kinect_tilt*np.pi/180)*fabric_center[2], 90, 0, 0))))
sheet_temp = Pose_2_KUKA(kinect.Pose()*transl(-fabric_center[0] + OFFSET_DEPTH, -fabric_center[1], fabric_center[2]))
sheet.setPose(KUKA_2_Pose(list((sheet_temp[0], sheet_temp[1], sheet_temp[2], 90, 0, 0))))
# sheet.setPose(KUKA_2_Pose(list((kinect_pos[0] - fabric_center[0], kinect_pos[1] + fabric_center[2], kinect_pos[2] + fabric_center[1], 90, 0, 0))))
# Scale to match measurements
# Sheet CAD: thickness (Z axis) = 0.1 mm, Length (Y axis) = 500 mm, Width (X Axis) = 300 mm
# sheet.Scale(scale_uniform)
# Calculate scale
scale_x = fabric_height/500
scale_y = fabric_width/300
scale_z = 1
sheet.Scale([scale_x, scale_y, scale_z]) # Scale with different factor in each direction
# Define Fabric Corners
"""!---------Targets are with respect to the Robot Base Reference so its better to use setPoseAbs() to keep everything in the universal coordinate system---------!"""
"""
br.setPoseAbs(KUKA_2_Pose(list((kinect_pos[0] - fabric_points[0, 0], kinect_pos[1] + fabric_points[0, 2], kinect_pos[2] + fabric_points[0, 1] + np.sin(kinect_tilt*np.pi/180)*fabric_points[0, 2], 0, -180, 0))))
bl.setPoseAbs(KUKA_2_Pose(list((kinect_pos[0] - fabric_points[1, 0], kinect_pos[1] + fabric_points[1, 2], kinect_pos[2] + fabric_points[1, 1] + np.sin(kinect_tilt*np.pi/180)*fabric_points[1, 2], -90, 180, 0))))
tl.setPoseAbs(KUKA_2_Pose(list((kinect_pos[0] - fabric_points[2, 0], kinect_pos[1] + fabric_points[2, 2], kinect_pos[2] + fabric_points[2, 1] + np.sin(kinect_tilt*np.pi/180)*fabric_points[2, 2], 0, 0, 180))))
tr.setPoseAbs(KUKA_2_Pose(list((kinect_pos[0] - fabric_points[3, 0], kinect_pos[1] + fabric_points[3, 2], kinect_pos[2] + fabric_points[3, 1] + np.sin(kinect_tilt*np.pi/180)*fabric_points[3, 2], -90, 0, 180))))
"""
br_temp = Pose_2_KUKA(kinect.Pose()*transl(-fabric_points[0, 0] + OFFSET_DEPTH, -fabric_points[0, 1], fabric_points[0, 2]))
bl_temp = Pose_2_KUKA(kinect.Pose()*transl(-fabric_points[1, 0] + OFFSET_DEPTH, -fabric_points[1, 1], fabric_points[1, 2]))
tl_temp = Pose_2_KUKA(kinect.Pose()*transl(-fabric_points[2, 0] + OFFSET_DEPTH, -fabric_points[2, 1], fabric_points[2, 2]))
tr_temp = Pose_2_KUKA(kinect.Pose()*transl(-fabric_points[3, 0] + OFFSET_DEPTH, -fabric_points[3, 1], fabric_points[3, 2]))
br.setPoseAbs(KUKA_2_Pose(list((br_temp[0], br_temp[1], sheet_temp[2], 45, -180,0))))
bl.setPoseAbs(KUKA_2_Pose(list((bl_temp[0], bl_temp[1], sheet_temp[2], -45, 180, 0))))
tl.setPoseAbs(KUKA_2_Pose(list((tl_temp[0], tl_temp[1], sheet_temp[2], 45, 0, 180))))
tr.setPoseAbs(KUKA_2_Pose(list((tr_temp[0], tr_temp[1], sheet_temp[2], -45, 0, 180))))
# enable render and speed up simulation (big data for neural)
RDK.Render(True)
RDK.setSimulationSpeed(5) # x faster (5 default)
robot.setZoneData(3) # Set the rounding parameter (Also known as: CNT, APO/C_DIS, ZoneData, Blending radius, cornering, ...)
RDK.ShowRoboDK() # Show RoboDK window
RDK.setWindowState(2) # Show RoboDK window
"""
# Script execution types
RUNMODE_SIMULATE = 1 # performs the simulation moving the robot (default)
RUNMODE_QUICKVALIDATE = 2 # performs a quick check to validate the robot movements
RUNMODE_MAKE_ROBOTPROG = 3 # makes the robot program
RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD = 4 # makes the robot program and updates it to the robot
RUNMODE_MAKE_ROBOTPROG_AND_START = 5 # makes the robot program and starts it on the robot (independently from the PC)
RUNMODE_RUN_ROBOT = 6 # moves the real robot from the PC (PC is the client, the robot behaves like a server)
"""
RDK.setRunMode(1) # Simulate only
# robot.setSpeed(speed_linear=speed*1000, speed_joints=110.0, accel_linear=-1, accel_joints=-1) # Set linear speed in mm/s (-1 = no change)
robot.setSpeed(speed_linear=(0.8*speed)*1000, speed_joints=-1, accel_linear=-1, accel_joints=-1) # Set linear speed in mm/s (-1 = no change)
# robot.setSpeedJoints(-1, 110.0, -1, -1) # Set joint speed in deg/s for rotary joints and mm/s for linear joints
# robot.setAcceleration() # Set linear acceleration in mm/s2
# robot.setAccelerationJoints() # Set joint acceleration in deg/s2 for rotary joints and mm/s2 for linear joints
# robot.setParamRobotTool(tool_mass=5, tool_cog=None) # set tool_mass in kg as float, tool_cog = list(x, y, z) tool center of gravity as [x,y,z] with respect to the robot flange
if check_col:
RDK.setCollisionActive(check_state=1) # Enable collision check
RDK.Command('CollisionMethod', value='CUDA')
RDK.Command('DisplayCurves', value='0')
# RDK.Command('SetSize3D', value='650x610')
# RDK.Command('Trace', value='On')
# RDK.setFlagsRoboDK(flags=[FLAG_ROBODK_TREE_ACTIVE])
RDK.setViewPose(KUKA_2_Pose(list((-635, -500, -6000, 0, 0, -40))))
return RDK, robot, pose, hand, kinect, gripper, br, bl, tl, tr
def _init(speed, focal_length, field_of_view, fabric_center, fabric_points, fabric_width, fabric_height, world_kalman_points, kinect_distance_from_plane, kinect_tilt, check_col=True):
"""
Reset and initialize RoboDK workspace
:param speed: float robot speed
:param focal_length: float kinect color focal length
:param field_of_view: float kinect color field of view
:param fabric_center: list with fabric ceter coordinates
:param fabric_points: list with fabric edge points
:param fabric_width: float fabric width
:param fabric_height: float fabric height
:param world_kalman_points: list with world kalman points
:param kinect_distance_from_plane: float kinect height from floor
:param kinect_tilt: float kinect tilt from floor plane
:param check_col: boolean to check collisions
:return: Item robot in RoboDK, Item pose in RoboDK, Item hand in RoboDK, Item kinect in RoboDK, Item gripper in RoboDK, Item bottom right, Item bottom left, Item top left, Item top right
"""
# Import libraries here for optimization
from robolink.robolink import Robolink, ITEM_TYPE_ROBOT
from robodk.robodk import KUKA_2_Pose, Pose_2_KUKA, transl, rotx
import sys
import numpy as np
import os
# Interactions with Robot
RDK = Robolink()
# Turn off automatic rendering (faster simulation)
RDK.Render(False)
# Initialize robot
# Search all items for a valid robot type (assumes only one robot is loaded)
robot = None
for station in RDK.ItemList():
for item in station.Childs():
if item.type == ITEM_TYPE_ROBOT:
robot = item
break
if robot is not None:
break
if not robot.Valid():
print("[ROBODK]: No robot is loaded to the station")
raise Exception("[ROBODK]: No Robot found!!")
# Check Home, Targets and Items Loaded
home = RDK.Item('Home') # Home
pose = RDK.Item('Target') # Target
sheet = RDK.Item('Sheet') # Sheet item
br = RDK.Item('Bottom Right') # Bottom Right Corner of Fabric
bl = RDK.Item('Bottom Left') # Bottom Left Corner of Fabric
tl = RDK.Item('Top Left') # Top Left Corner of Fabric
tr = RDK.Item('Top Right') # Top Right Corner of Fabric
kinect = RDK.Item('Kinect') # Get Kinect
hand = RDK.Item('Hand') # Get Hand model
gripper = RDK.Item('Gripper') # Get Gripper model
light = RDK.Item('Light Source') # Get Light Source
# Check if everything is loaded correctly
if home.type == -1 or pose.type == -1 or sheet.type == -1 or bl.type == -1 or tl.type == -1 or tr.type == -1 or br.type == -1 or kinect.type == -1 or hand.type == -1 or gripper.type == -1 or light.type == -1:
sys.exit('[ROBODK]: Cannot obtain simulation items: Check if everything is loaded')
# Initialize Kinect
# Check Kinect Tilt angle
temp_kinect = Pose_2_KUKA(kinect.Pose())
kinect.setPoseAbs(KUKA_2_Pose(list((temp_kinect[0], temp_kinect[1], temp_kinect[2], temp_kinect[3], temp_kinect[4], -90 + kinect_tilt))))
# Check kinect height
actual_height = Pose_2_KUKA(kinect.Pose())
if (actual_height[2] - kinect_distance_from_plane) <= 50:
# kinect.setPose(KUKA_2_Pose(list((690, -1770, kinect_distance_from_plane, 0, 0, -90 + kinect_tilt))))
kinect.setPoseAbs(KUKA_2_Pose(list((temp_kinect[0], temp_kinect[1], temp_kinect[2], temp_kinect[3], temp_kinect[4], -90 + kinect_tilt))))
else:
# kinect.setPose(KUKA_2_Pose(list((690, -1770, 2150-kinect_distance_from_plane/100, 0, 0, -90 + kinect_tilt))))
kinect.setPoseAbs(KUKA_2_Pose(list((temp_kinect[0], temp_kinect[1], temp_kinect[2], temp_kinect[3], temp_kinect[4], -90 + kinect_tilt))))
# Define Camera
# Use the GLSL files for more realistic camera view from inside the RoboDK software
file_shader_fragment = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'RoboDK/KUKA/Camera-Shaders/shader_fragment.glsl')
file_shader_vertex = os.path.join(os.path.dirname(os.path.realpath(__file__)), 'RoboDK/KUKA/Camera-Shaders/shader_vertex.glsl')
# Add Camera
"""
# -------------Set parameters in mm and degrees-------------------------
# FOV: Field of view in degrees (atan(0.5*height/distance) of the sensor
# FOCAL_LENGTH: focal length in mm
# FAR_LENGTH: maximum working distance (in mm)
# SIZE: size of the window in pixels (fixed) (width x height)
# SNAPSHOT: size of the snapshot image in pixels (width x height)
# BG_COLOR: background color (rgb color or named color: AARRGGBB)
# LIGHT_AMBIENT: ambient color (rgb color or named color: AARRGGBB)
# LIGHT_SPECULAR: specular color (rgb color or named color: AARRGGBB)
# LIGHT_DIFFUSE: diffuse color (rgb color or named color: AARRGGBB)
# DEPTH: Add this flag to create a 32 bit depth map (white=close, black=far)
# NO_TASKBAR: Don't add the window to the task bar
# MINIMIZED: Show the window minimized
# ALWAYS_VISIBLE: Keep the window on top of all other windows
# SHADER_VERTEX: File to a vertex shader (GLSL file)
# SHADER_FRAGMENT: File to a fragment shader (GLSL file)
"""
# cam_id = RDK.Cam2D_Add(kinect, 'FOCAL_LENGTH=' + str(focal_length) + ' FOV=' + str(field_of_view) + ' FAR_LENGTH=4500 SIZE=548x308 BG_COLOR=black LIGHT_AMBIENT=red LIGHT_DIFFUSE=black LIGHT_SPECULAR=white ALWAYS_VISIBLE')
# RDK.Cam2D_Add(kinect, 'FOCAL_LENGTH=' + str(focal_length) + ' FOV=' + str(field_of_view) + ' FAR_LENGTH=4500 SIZE=548x308 BG_COLOR=black LIGHT_AMBIENT=red LIGHT_DIFFUSE=black LIGHT_SPECULAR=white TASKBAR ALWAYS_VISIBLE')
RDK.Cam2D_Add(kinect, 'FOCAL_LENGTH=' + str(focal_length) + ' FOV=' + str(field_of_view) + ' FAR_LENGTH=4500 SIZE=512x424 BG_COLOR=black SHADER_FRAGMENT=' + file_shader_fragment + ' SHADER_VERTEX=' + file_shader_vertex + ' MINIMIZED')
# Special command to retrieve the window ID:
# win_id = RDK.Command("CamWinID", str(cam_id))
# Take snapshot
# RDK.Cam2D_Snapshot(RDK.getParam('PATH_OPENSTATION') + "/Kinect_snapshot.png", cam_id)
"""
!------------------THE POSE OF AN ITEM/OBJECT/TARGET IS WITH RESPECT TO ITS PARENT------------------!
"""
# Define fabric origins
# Initialise hand origin as detected from kinect camera
hand_temp = Pose_2_KUKA(kinect.Pose() * transl(-world_kalman_points[0] + OFFSET_DEPTH, -world_kalman_points[1], world_kalman_points[2]))
hand.setPoseAbs(KUKA_2_Pose(list((hand_temp[0], hand_temp[1], hand_temp[2], -90, 0, 0))))
# Original Position = (660, 240, 426, 90, 0, 0)
sheet_temp = Pose_2_KUKA(kinect.Pose() * transl(-fabric_center[0] + OFFSET_DEPTH, -fabric_center[1], fabric_center[2]))
sheet.setPoseAbs(KUKA_2_Pose(list((sheet_temp[0], sheet_temp[1], sheet_temp[2], 90, 0, 0))))
# Scale to match measurements
# Sheet CAD: thickness (Z axis) = 0.1 mm, Length (Y axis) = 500 mm, Width (X Axis) = 300 mm
# sheet.Scale(scale_uniform)
# Calculate scale
scale_x = fabric_height / 500
scale_y = fabric_width / 300
scale_z = 1
sheet.Scale([scale_x, scale_y, scale_z]) # Scale with different factor in each direction
# Define Fabric Corners
br_temp = Pose_2_KUKA(kinect.Pose() * transl(-fabric_points[0, 0] + OFFSET_DEPTH, -fabric_points[0, 1], fabric_points[0, 2]))
bl_temp = Pose_2_KUKA(kinect.Pose() * transl(-fabric_points[1, 0] + OFFSET_DEPTH, -fabric_points[1, 1], fabric_points[1, 2]))
tl_temp = Pose_2_KUKA(kinect.Pose() * transl(-fabric_points[2, 0] + OFFSET_DEPTH, -fabric_points[2, 1], fabric_points[2, 2]))
tr_temp = Pose_2_KUKA(kinect.Pose() * transl(-fabric_points[3, 0] + OFFSET_DEPTH, -fabric_points[3, 1], fabric_points[3, 2]))
br.setPoseAbs(KUKA_2_Pose(list((br_temp[0], br_temp[1], sheet_temp[2], 45, -180, 0))))
bl.setPoseAbs(KUKA_2_Pose(list((bl_temp[0], bl_temp[1], sheet_temp[2], -45, 180, 0))))
tl.setPoseAbs(KUKA_2_Pose(list((tl_temp[0], tl_temp[1], sheet_temp[2], 45, 0, 180))))
tr.setPoseAbs(KUKA_2_Pose(list((tr_temp[0], tr_temp[1], sheet_temp[2], -45, 0, 180))))
# enable render and speed up simulation (big data for neural)
RDK.Render(True)
"""
# Script execution types
RUNMODE_SIMULATE = 1 # performs the simulation moving the robot (default)
RUNMODE_QUICKVALIDATE = 2 # performs a quick check to validate the robot movements
RUNMODE_MAKE_ROBOTPROG = 3 # makes the robot program
RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD = 4 # makes the robot program and updates it to the robot
RUNMODE_MAKE_ROBOTPROG_AND_START = 5 # makes the robot program and starts it on the robot (independently from the PC)
RUNMODE_RUN_ROBOT = 6 # moves the real robot from the PC (PC is the client, the robot behaves like a server)
"""
# robot.setSpeed(speed_linear=speed*1000, speed_joints=110.0, accel_linear=-1, accel_joints=-1) # Set linear speed in mm/s (-1 = no change)
robot.setSpeed(speed_linear=(0.8 * speed) * 1000, speed_joints=-1, accel_linear=-1, accel_joints=-1) # Set linear speed in mm/s (-1 = no change)
# robot.setSpeedJoints(-1, 110.0, -1, -1) # Set joint speed in deg/s for rotary joints and mm/s for linear joints
# robot.setAcceleration() # Set linear acceleration in mm/s2
# robot.setAccelerationJoints() # Set joint acceleration in deg/s2 for rotary joints and mm/s2 for linear joints
# robot.setParamRobotTool(tool_mass=5, tool_cog=None) # set tool_mass in kg as float, tool_cog = list(x, y, z) tool center of gravity as [x,y,z] with respect to the robot flange
if check_col:
RDK.setCollisionActive(check_state=1) # Enable collision check
RDK.Command('CollisionMethod', value='CUDA')
# RDK.Command('SetSize3D', value='650x610')
# RDK.Command('Trace', value='On')
# RDK.setFlagsRoboDK(flags=[FLAG_ROBODK_TREE_ACTIVE])
return robot, pose, hand, kinect, gripper, br, bl, tl, tr
def reset(robot_ip, port, simulation=True):
"""
Resets the RoboDK's Items position
:param robot_ip: string IP of the robot controller
:param port: integer port of the robot controller
:param simulation: boolean to enable simulation or move the real robot
:return: RDK: Connection to the RoboDK application
"""
# Import libraries here for optimization
from robolink.robolink import ITEM_TYPE_ROBOT, Robolink
from robodk.robodk import KUKA_2_Pose
import sys
import os
RDK = Robolink()
# Turn off automatic rendering (faster simulation)
RDK.Render(False)
# Initialize robot
# Search all items for a valid robot type (assumes only one robot is loaded)
robot = None
for station in RDK.ItemList():
for item in station.Childs():
if item.type == ITEM_TYPE_ROBOT:
robot = item
break
if robot is not None:
break
if not robot.Valid():
print("[ROBODK]: No robot is loaded to the station")
raise Exception("[ROBODK]: No Robot found!!")
# Check Home, Targets and Items Loaded
pose = RDK.Item('Target') # Target
sheet = RDK.Item('Sheet') # Sheet item
br = RDK.Item('Bottom Right') # Bottom Right Corner of Fabric
bl = RDK.Item('Bottom Left') # Bottom Left Corner of Fabric
tl = RDK.Item('Top Left') # Top Left Corner of Fabric
tr = RDK.Item('Top Right') # Top Right Corner of Fabric
hand = RDK.Item('Hand') # Get Hand model
light = RDK.Item('Light Source') # Get Light Source
# Check if everything is loaded correctly
if pose.type == -1 or sheet.type == -1 or bl.type == -1 or tl.type == -1 or tr.type == -1 or br.type == -1 or hand.type == -1 or light.type == -1:
sys.exit('[ROBODK]: Cannot obtain simulation items: Check if everything is loaded')
# Always start from home
try:
# Move to Home
robot.setJoints([0, 90, 0, 0, 0, 0])
except Exception as e:
print(f'[ROBODK]: Cant Move Robot Home\n{e}')
# Reset Sheet
sheet.Delete()
sheet = RDK.AddFile(os.path.join(os.path.dirname(os.path.realpath(__file__)), 'Models/Sheet.stl'))
sheet.setPoseAbs(KUKA_2_Pose(list((635, 0, 770, 90, 0, 0))))
sheet.setColor([255 / 255, 170 / 255, 127 / 255, 1])
# Reset Fabric Points
"""!---------Targets are with respect to the Robot Base Reference so its better to use setPoseAbs() to keep everything in the universal coordinate system---------!"""
br.setPoseAbs(KUKA_2_Pose(list((785, -250, 770, 45, -180, 0))))
bl.setPoseAbs(KUKA_2_Pose(list((485, -250, 770, -45, 180, 0))))
tl.setPoseAbs(KUKA_2_Pose(list((485, 250, 770, 45, 0, 180))))
tr.setPoseAbs(KUKA_2_Pose(list((785, 250, 770, -45, 0, 180))))
# Reset Hand
hand.setPoseAbs(KUKA_2_Pose(list((500, 1000, 1400, -90, 0, 0))))
# Reset Target
pose.setPoseAbs(KUKA_2_Pose(list((600, 250, 770, 0, 0, -90))))
# It is important to provide the reference frame and the tool frames when generating programs offline
robot.setPoseFrame(robot.PoseFrame())
robot.setPoseTool(robot.PoseTool())
# Define Light Source
light.setPoseAbs(KUKA_2_Pose(list((1000, 0, 2500, 0, 205, 0))))
# Close all cameras just in case
RDK.Cam2D_Close()
# enable render and speed up simulation (big data for neural)
RDK.Render(True)
RDK.setSimulationSpeed(5) # x faster (5 default)
robot.setZoneData(3) # Set the rounding parameter (Also known as: CNT, APO/C_DIS, ZoneData, Blending radius, cornering, ...)
RDK.ShowRoboDK() # Show RoboDK window
RDK.setWindowState(2) # Show RoboDK window
"""
# Script execution types
RUNMODE_SIMULATE = 1 # performs the simulation moving the robot (default)
RUNMODE_QUICKVALIDATE = 2 # performs a quick check to validate the robot movements
RUNMODE_MAKE_ROBOTPROG = 3 # makes the robot program
RUNMODE_MAKE_ROBOTPROG_AND_UPLOAD = 4 # makes the robot program and updates it to the robot
RUNMODE_MAKE_ROBOTPROG_AND_START = 5 # makes the robot program and starts it on the robot (independently from the PC)
RUNMODE_RUN_ROBOT = 6 # moves the real robot from the PC (PC is the client, the robot behaves like a server)
"""
if simulation:
RDK.setRunMode(1) # simulate only
else:
RDK.setRunMode(6) # move real robot and simulation
connect(robot_ip, port, robot)
# robot.setSpeed(speed_linear=speed*1000, speed_joints=110.0, accel_linear=-1, accel_joints=-1) # Set linear speed in mm/s (-1 = no change)
# robot.setSpeedJoints(-1, 110.0, -1, -1) # Set joint speed in deg/s for rotary joints and mm/s for linear joints
# robot.setAcceleration() # Set linear acceleration in mm/s2
# robot.setAccelerationJoints() # Set joint acceleration in deg/s2 for rotary joints and mm/s2 for linear joints
# robot.setParamRobotTool(tool_mass=5, tool_cog=None) # set tool_mass in kg as float, tool_cog = list(x, y, z) tool center of gravity as [x,y,z] with respect to the robot flange
RDK.Command('DisplayCurves', value='0')
# RDK.Command('SetSize3D', value='650x610')
# RDK.Command('Trace', value='On')
# RDK.setFlagsRoboDK(flags=[FLAG_ROBODK_TREE_ACTIVE])
RDK.setViewPose(KUKA_2_Pose(list((-635, -500, -6000, 0, 0, -40))))
return RDK
def connect(ip, port, robot):
"""
Make connection with robot
:param ip: string IP of the robot controller
:param port: port of the robot controller
:param robot: Item robot in RoboDK
:return: None
"""
try:
# Set the connection parameters
robot.setConnectionParams(ip, port, '/', 'anonymous', '')
# Connect to the robot, 0 = failed, 1 = success
success = robot.Connect()
# Check connection
if success == 0:
print('[ROBODK]: Failed to Connect to Robot')
robot.Disconnect()
else:
print('[ROBODK]: Connection Successful')
# It is important to provide the reference frame and the tool frames when generating programs offline
robot.setPoseFrame(robot.PoseFrame())
robot.setPoseTool(robot.PoseTool())
status, status_msg = robot.ConnectedState()
# Robot connection status
# ROBOTCOM_PROBLEMS = -3
# ROBOTCOM_DISCONNECTED = -2
# ROBOTCOM_NOT_CONNECTED = -1
# ROBOTCOM_READY = 0
# ROBOTCOM_WORKING = 1
# ROBOTCOM_WAITING = 2
# ROBOTCOM_UNKNOWN = -1000
# Print Robot status
print("[ROBODK]: Robot Status: " + status_msg)
except Exception as e:
print("[ROBODK]: {}".format(e))
def target_joints(RDK, target):
"""
Move robot to a Target and get the joints
:param RDK: link to the RDK instance
:param target: Item target in RoboDk
:return: list with robot angles [J1, J2, J3, J4, J5, J6, J7]
"""
from robolink.robolink import ITEM_TYPE_ROBOT
from robodk.robodk import tr, transl
# Faster Calculations ( Robot not moving )
RDK.Render(False)
RDK.setRunMode(1) # Simulate only
# Initialize robot
# Search all items for a valid robot type (assumes only one robot is loaded)
robot = None
for station in RDK.ItemList():
for item in station.Childs():
if item.type == ITEM_TYPE_ROBOT:
robot = item
break
if robot is not None:
break
if not robot.Valid():
print("[ROBODK]: No robot is loaded to the station")
raise Exception("[ROBODK]: No Robot found!!")
# Calculate pose
pose = robot.Pose()*transl(target[0], target[1], target[2])
# Find angles
angles = robot.SolveIK(pose, robot.Joints(), robot.PoseTool(), robot.PoseFrame())
RDK.Render(True)
return angles
def simulation(RDK, x, y, z, rot_x, rot_y, rot_z, robot, pose, hand_model, hand_state, gripper_model, gripper_state, waitGripper, kinect_model, kinect_tilt, world_kalman_hand_tip_right, human_state, robot_corner, b_right, b_left, t_left, t_right, startSim, check_col=True):
"""
Update robot, hand, gripper, fabric, kinect and cloud skeleton
:param RDK: link to RoboDK instance
:param x: float hand distance in x axis
:param y: float hand distance in y axis
:param z: float hand distance in z axis
:param rot_x: float hand angle in x axis
:param rot_y: float hand angle in y axis
:param rot_z: float hand angle in z axis
:param robot: Item robot in RoboDK
:param pose: Item target in RoboDK
:param hand_model: Item hand in RoboDK
:param hand_state: string hand state
:param gripper_model: Item gripper in RoboDK
:param gripper_state: string gripper state
:param waitGripper: boolean to wait for gripper to grab fabric
:param kinect_model: Item kinect in RoboDK
:param kinect_tilt: float angle of tiltness of Kinect from floor plane
:param world_kalman_hand_tip_right: list with world kalman points of the operator's hand tip
:param human_state: string with human state
:param robot_corner: string with robot's starting corner
:param b_right: Item bottom right in RoboDK
:param b_left: Item bottom left in RoboDK
:param t_left: Item top left in RoboDK
:param t_right: Item top right in RoboDK
:param startSim: boolean to start simulation after fabric is grabbed
:param check_col: boolean to check for collisions
:return: string with robot_state, boolean that simulation started, boolean to wait for gripper to grab the fabric
"""
# Import libraries only for this function to minimize memory usage
from robodk.robodk import transl, rotx, roty, rotz, TxyzRxyz_2_Pose, Pose_2_TxyzRxyz, KUKA_2_Pose, Pose_2_KUKA, tr
import numpy as np
import os
RDK.Render(False) # Faster Calculations
"""
if check_col:
# Check for current collisions
check_collisions = RDK.Collisions()
# if collision then move to home
if check_collisions != 0:
print("Collision detected. Moving to Home Position")
# robot.setJoints([0, 90, 0, 0, 0, 0])
"""
# Move Robot to Target
# joints = robot.SolveIK(x, y, z)
# robot.setJoints([joints[0], joints[1], joints[2], joints[3], joints[4], joints[5]])
# Calculate Robot Pose to move to (x, y, z = mm, rotations = radians
# rot_x, rot_y, rot_z = rot_x * np.pi/180, rot_y * np.pi/180, rot_z * np.pi/18
# pose = robot.Pose()*transl(int(x), int(y), int(z))*rotx(int(rot_x))*roty(int(rot_y))*rotz(int(rot_z))
kinect_pos = Pose_2_KUKA(kinect_model.Pose())
hand_tar = Pose_2_KUKA(hand_model.Pose())
# tar = Pose_2_KUKA(pose.Pose())
# tar = list((tar[0] + int(x), tar[1] + int(z), tar[2] + int(y), int(rot_x), int(rot_z), int(rot_y)))
# tar = list((tar[0] + int(x), tar[1] + int(y), tar[2] + int(z), int(rot_y), int(rot_x), int(rot_z)))
# tar = list((tar[0] - int(x), tar[1] + int(z), tar[2] + int(y), int(rot_z*180/np.pi), int(rot_y*180/np.pi), int(rot_x*180/np.pi)))
# tar = list((tar[0] - int(x), tar[1] + int(z), tar[2] + int(y), rot_x, tar[4], tar[5]))
# tar = list((tar[0] - int(x), tar[1] + int(z), tar[2] + int(y), int(rot_z), tar[4], int(rot_y)))
# tar = list((tar[0] - int(x), tar[1] + int(z), tar[2] + int(y), int(rot_z), int(rot_x), int(rot_y)))
# tar[4] could be the wrist rotation from quaternions
# pose = TxyzRxyz_2_Pose([int(x)/2, int(y)/2, int(z)/2, 0, 0, 0])
# pose = robot.Pose().setPos([int(x), int(y), int(z)])
# Update hand pose in simulation Space
# hand_model.setPose(KUKA_2_Pose(list((kinect_pos[0] - int(world_kalman_hand_tip_right[0]), kinect_pos[1] + int(world_kalman_hand_tip_right[2]), kinect_pos[2] + int(world_kalman_hand_tip_right[1]) + np.sin(kinect_tilt*np.pi/180)*world_kalman_hand_tip_right[2], int(rot_z), 0, int(rot_y)))))
hand_pose = Pose_2_KUKA(kinect_model.Pose()*transl(-world_kalman_hand_tip_right[0], -world_kalman_hand_tip_right[1], world_kalman_hand_tip_right[2]))
# pose.setPose(KUKA_2_Pose(tar))
hand_model.setPose(KUKA_2_Pose(list((hand_pose[0] + OFFSET_DEPTH, hand_pose[1], hand_pose[2], rot_z, 0, rot_y))))
# Update Hand State
# -------------- Color = [r, g, b, a] (from 0 to 1 scale) (a = opacity, 0=transparent, 1=solid)
# GREEN = Closed, RED = UNKNOWN/NOT TRACKED, NUDE = OPEN
if hand_state == 'OPEN':
hand_model.setColor([255/255, 170/255, 127/255, 1])
elif hand_state == 'CLOSED':
hand_model.setColor([85/255, 255/255, 0/255, 1])
else:
hand_model.setColor([255/255, 0/255, 0/255, 1])
# Update Gripper State
# -------------- Color = [r, g, b, a] (from 0 to 1 scale) (a = opacity, 0=transparent, 1=solid)
# GREEN = Closed, BLACK = OPEN
if gripper_state == 'OPEN':
gripper_model.setColor([15/255, 15/255, 15/255, 1])
elif gripper_state == 'CLOSED':
gripper_model.setColor([85/255, 255/255, 0/255, 1])
RDK.Render(True) # Enable simulation again
# RDK.Update()
# Try moving to point if inside reach else stay to previous point
if human_state == 'READY' and not waitGripper:
if startSim:
# Break Loop
startSim = False
# Wait for Gripper to catch the fabric
# Move once and wait for gripper
waitGripper = True
# Calculate robot corner to move to
# Keep the orientation the same and change the xyz coordinates to match the corner
pose_tar = Pose_2_KUKA(pose.Pose())
if robot_corner == 'BR':
"""
br_tar = Pose_2_KUKA(b_right.Pose())
pose.setPose(KUKA_2_Pose(list((br_tar[0], br_tar[1], br_tar[2], br_tar[3], br_tar[4], br_tar[5]))))
"""
pose.setPose(b_right.Pose())
elif robot_corner == 'BL':
"""
bl_tar = Pose_2_KUKA(b_left.Pose())
pose.setPose(KUKA_2_Pose(list((bl_tar[0], bl_tar[1], bl_tar[2], bl_tar[3], bl_tar[4], bl_tar[5]))))
"""
pose.setPose(b_left.Pose())
elif robot_corner == 'TL':
"""
tl_tar = Pose_2_KUKA(t_left.Pose())
pose.setPose(KUKA_2_Pose(list((tl_tar[0], tl_tar[1], tl_tar[2], tl_tar[3], tl_tar[4], tl_tar[5]))))
"""
pose.setPose(t_left.Pose())
elif robot_corner == 'TR':
"""
tr_tar = Pose_2_KUKA(t_right.Pose())
pose.setPose(KUKA_2_Pose(list((tr_tar[0], tr_tar[1], tr_tar[2], tr_tar[3], tr_tar[4], tr_tar[5]))))
"""
pose.setPose(t_right.Pose())
try:
"""
# check if move is free of collisions
issues = robot.MoveJ_Test(robot.Joints(), pose.Joints())
can_move_joints = (issues == 0)
if can_move_joints and len(tr(pose.Joints())) == 7:
# Move Robot
robot.MoveJ(pose)
# Update robot state
robot_state = 'MOVING'
else:
robot_state = 'IDLE'
"""
# Move Robot on Simulation Only
# RDK.setRunMode(1) # Simulate only
# robot.MoveJ(pose)
# Move real robot
RDK.setRunMode(6)
# change robot's joint limits to the original ones to avoid joint limitations
robot.setJointLimits(MODIFIED_LOWER_LIMITS, MODIFIED_UPPER_LIMITS)
tar = tr(pose.Joints())
"""
Change the position of the Joints because KUKA LWR IV+ has declared the third joint as an External Joint.
KUKA LWR IV+ Joints = [A1, A2, E1, A3, A4, A5, A6] and RoboDK sends the joints as [A1, A2, A3, A4, A5, A6, E1]
"""
robot.MoveJ([tar[0, 0], tar[0, 1], tar[0, 3], tar[0, 4], tar[0, 5], tar[0, 6], tar[0, 2]])
# change robot's joint limits to the modified ones to compute the real joint angles
robot.setJointLimits(ORIGINAL_LOWER_LIMITS, ORIGINAL_UPPER_LIMITS)
# Update robot state
robot_state = 'MOVING'
if not waitGripper:
tar = Pose_2_KUKA(pose.Pose())
# tar = list((tar[0] - int(x), tar[1] + int(z), tar[2] + int(y), int(rot_z), tar[4], int(rot_y)))
tar = list((tar[0] - int(x), tar[1] + int(z), tar[2] + int(y), tar[3], tar[4], tar[5]))
pose.setPose(KUKA_2_Pose(tar))
"""
with open(os.path.join(os.path.dirname(os.path.realpath(__file__)), 'data.txt'), 'a') as file:
file.write('{}, {}, {}\n'.format(tar[0], tar[1], tar[2]))
"""
if check_col:
# Check for current collisions
check_collisions = RDK.Collisions()
# if collision then move to home
if check_collisions != 0:
print("[ROBODK]: Collision detected. Moving to Home Position")
robot.setJoints([0, 90, 0, 0, 0, 0])
# Update robot state
robot_state = 'IDLE'
waitGripper = False
startSim = True
except Exception as e:
print(f'[ROBODK]: {e}')
# Update robot state
robot_state = 'IDLE'
waitGripper = False
startSim = True
robot.setJointLimits(ORIGINAL_LOWER_LIMITS, ORIGINAL_UPPER_LIMITS)
else:
robot_state = 'IDLE'
return robot_state, startSim, waitGripper
def _simulation(RDK, x, y, z, rot_y, rot_z, robot, pose, hand_model, hand_state, gripper_model, gripper_state, waitGripper, kinect_model, world_kalman_hand_tip_right, human_state, robot_corner, b_right, b_left, t_left, t_right, startSim, robot_path, check_col=True, sim=True):
"""
Update robot, hand, gripper, fabric, kinect and cloud skeleton
:param RDK: link to RoboDK instance
:param x: float hand distance in x axis
:param y: float hand distance in y axis
:param z: float hand distance in z axis
:param rot_y: float hand angle in x axis
:param rot_z: float hand angle in z axis
:param robot: Item robot in RoboDK
:param pose: Item pose in RoboDK
:param hand_model: Item hand in RoboDK
:param hand_state: string with hand state
:param gripper_model: Item gripper in RoboDK
:param gripper_state: string with gripper state
:param waitGripper: boolean to wait for gripper to grab fabric
:param kinect_model: Item kinect in RoboDK
:param world_kalman_hand_tip_right: list with kalman world hand tip coordinates
:param human_state: string with human state
:param robot_corner: string with robot's starting corner
:param b_right: Item bottom right in RoboDK
:param b_left: Item bottom left in RoboDK
:param t_left: Item top left in RoboDk
:param t_right: Item top right in RoboDK
:param startSim: boolean to start updating models and view
:param robot_path: list with robot movement
:param check_col: boolean to check for collisions
:param sim: boolean to simulate
:return: string with robot state, boolean that simmulation stared, boolean to wait for gripper to grab fabric, list with robot movement poits
"""
# Import libraries only for this function to minimize memory usage
from robodk.robodk import transl, KUKA_2_Pose, Pose_2_KUKA, tr
RDK.Render(False) # Faster Calculations
# Update hand pose in simulation Space
hand_pose = Pose_2_KUKA(kinect_model.Pose()*transl(-world_kalman_hand_tip_right[0], -world_kalman_hand_tip_right[1], world_kalman_hand_tip_right[2]))
hand_model.setPoseAbs(KUKA_2_Pose(list((hand_pose[0] + OFFSET_DEPTH, hand_pose[1], hand_pose[2], rot_z, 0, rot_y))))
# Update Hand State
# -------------- Color = [r, g, b, a] (from 0 to 1 scale) (a = opacity, 0=transparent, 1=solid)
# GREEN = Closed, RED = UNKNOWN/NOT TRACKED, NUDE = OPEN
if hand_state == 'OPEN':
hand_model.setColor([255/255, 170/255, 127/255, 1])
elif hand_state == 'CLOSED':
hand_model.setColor([85/255, 255/255, 0/255, 1])
else:
hand_model.setColor([255/255, 0/255, 0/255, 1])
# Update Gripper State
# -------------- Color = [r, g, b, a] (from 0 to 1 scale) (a = opacity, 0=transparent, 1=solid)
# GREEN = Closed, BLACK = OPEN
if gripper_state == 'OPEN':
gripper_model.setColor([15/255, 15/255, 15/255, 1])
elif gripper_state == 'CLOSED':
gripper_model.setColor([85/255, 255/255, 0/255, 1])
RDK.Render(True) # Enable simulation again
# Try moving to point if inside reach else stay to previous point
if human_state == 'READY' and not waitGripper:
if startSim:
# Break Loop
startSim = False
# Wait for Gripper to catch the fabric
# Move once and wait for gripper
waitGripper = True
# Calculate robot corner to move to
# Keep the orientation the same and change the xyz coordinates to match the corner
if robot_corner == 'BR':
pose.setPoseAbs(b_right.PoseAbs())
elif robot_corner == 'BL':
pose.setPoseAbs(b_left.PoseAbs())
elif robot_corner == 'TL':
pose.setPoseAbs(t_left.PoseAbs())
elif robot_corner == 'TR':
pose.setPoseAbs(t_right.PoseAbs())
try:
# change robot's joint limits to the original ones to avoid joint limitations
robot.setJointLimits(MODIFIED_LOWER_LIMITS, MODIFIED_UPPER_LIMITS)
if RDK.RunMode() == 1:
tar = tr(pose.Joints())
# Move Robot on Simulation Only
robot.MoveJ([tar[0, 0], tar[0, 1], tar[0, 2], tar[0, 3], tar[0, 4], tar[0, 5], tar[0, 6]])
elif RDK.RunMode() == 6:
# Move real robot
tar = tr(pose.Joints())
"""
Change the position of the Joints because KUKA LWR IV+ has declared the third joint as an External Joint.
KUKA LWR IV+ Joints = [A1, A2, E1, A3, A4, A5, A6] and RoboDK sends the joints as [A1, A2, A3, A4, A5, A6, E1]
"""
robot.MoveJ([tar[0, 0], tar[0, 1], tar[0, 3], tar[0, 4], tar[0, 5], tar[0, 6], tar[0, 2]])
else:
pass
# change robot's joint limits to the modified ones to compute the real joint angles
robot.setJointLimits(ORIGINAL_LOWER_LIMITS, ORIGINAL_UPPER_LIMITS)
# store robot path
robot_xyz = Pose_2_KUKA(pose.PoseAbs())
robot_path.append([robot_xyz[0], robot_xyz[1], robot_xyz[2]])
# Update robot state
robot_state = 'MOVING'
if not waitGripper:
tar = Pose_2_KUKA(pose.PoseAbs())
tar = list((tar[0] - int(x), tar[1] + int(z), tar[2] + int(y), tar[3], tar[4], tar[5]))
pose.setPoseAbs(KUKA_2_Pose(tar))
if check_col:
# Check for current collisions
check_collisions = RDK.Collisions()
# if collision then move to home
if check_collisions != 0:
print("[ROBODK]: Collision detected. Moving to Home Position")
robot.setJoints([0, 90, 0, 0, 0, 0])
# Update robot state
robot_state = 'IDLE'
waitGripper = False
startSim = True
except Exception as e:
print('[ROBODK]: {}'.format(e))
# Update robot state
robot_state = 'IDLE'
waitGripper = False
startSim = True
robot.setJointLimits(ORIGINAL_LOWER_LIMITS, ORIGINAL_UPPER_LIMITS)
else:
robot_state = 'IDLE'
return robot_state, startSim, waitGripper, robot_path
def move_up(RDK, robot, pose):
"""
Move robot up after the fabric is grabbed
:param RDK: link to RoboDK instance
:param robot: Item robot in RoboDK
:param pose: Item pose in RoboDK
:return: Boolean
"""
from robodk.robodk import KUKA_2_Pose, Pose_2_KUKA, tr
# Move real robot
# change robot's joint limits to the original ones to avoid joint limitations
robot.setJointLimits(MODIFIED_LOWER_LIMITS, MODIFIED_UPPER_LIMITS)
tar = Pose_2_KUKA(pose.PoseAbs())
tar = list((tar[0], tar[1], tar[2] + 60, tar[3], tar[4], tar[5]))
pose.setPoseAbs(KUKA_2_Pose(tar))
RDK.Render(False)
tar = tr(pose.Joints())
""" Change the position of the Joints because KUKA LWR IV+ has declared the third joint as an External Joint.
KUKA LWR IV+ Joints = [A1, A2, E1, A3, A4, A5, A6] and RoboDK sends the joints as [A1, A2, A3, A4, A5, A6, E1] """
robot.MoveJ([tar[0, 0], tar[0, 1], tar[0, 3], tar[0, 4], tar[0, 5], tar[0, 6], tar[0, 2]])
# change robot's joint limits to the modified ones to compute the real joint angles
robot.setJointLimits(ORIGINAL_LOWER_LIMITS, ORIGINAL_UPPER_LIMITS)
return True
def collaborate(RDK, x, y, z, robot, pose, robot_path, kinect_model, hand_model, gripper_model, hand_state, gripper_state, world_kalman_hand_tip_right, rot_y, rot_z):
"""
Human robot collaboration fuction to move robot according to human operator
:param RDK: link to robodk instance
:param x: distance moved in x axis
:param y: distance moved in y axis
:param z: distance moved in z axis
:param robot: Item robot in RoboDK
:param pose: Item pose in RoboDK
:param robot_path: list with robot movement
:param kinect_model: Item kinect in RoboDK
:param hand_model: Item hand in RoboDK
:param gripper_model: Item gripper in RoboDK
:param hand_state: string with operator's hand state
:param gripper_state: string with gripper's state
:param world_kalman_hand_tip_right: list with kalman world coordinates of the operator's hand tip
:param rot_y: float rotation in y axis
:param rot_z: float rotation in z axis
:return: string with robot state, list with robot movements
"""
from robodk.robodk import transl, rotx, roty, rotz, TxyzRxyz_2_Pose, Pose_2_TxyzRxyz, KUKA_2_Pose, Pose_2_KUKA, tr
import numpy as np
RDK.Render(False) # Faster Calculations
# Try moving to point if inside reach else stay to previous point
try:
# Move real robot
# change robot's joint limits to the original ones to avoid joint limitations
robot.setJointLimits(MODIFIED_LOWER_LIMITS, MODIFIED_UPPER_LIMITS)
tar = Pose_2_KUKA(pose.PoseAbs())
tar = list((tar[0] - int(x), tar[1] + int(z), tar[2] + int(y), tar[3], tar[4], tar[5]))
pose.setPoseAbs(KUKA_2_Pose(tar))
# Simulation only
if RDK.RunMode() == 1:
RDK.Render(False) # Faster Calculations
# Update hand pose in simulation Space
hand_pose = Pose_2_KUKA(kinect_model.Pose() * transl(-world_kalman_hand_tip_right[0], -world_kalman_hand_tip_right[1], world_kalman_hand_tip_right[2]))
hand_model.setPoseAbs(KUKA_2_Pose(list((hand_pose[0] + OFFSET_DEPTH, hand_pose[1], hand_pose[2], rot_z, 0, rot_y))))
# Update Hand State
# -------------- Color = [r, g, b, a] (from 0 to 1 scale) (a = opacity, 0=transparent, 1=solid)
# GREEN = Closed, RED = UNKNOWN/NOT TRACKED, NUDE = OPEN
if hand_state == 'OPEN':
hand_model.setColor([255 / 255, 170 / 255, 127 / 255, 1])
elif hand_state == 'CLOSED':
hand_model.setColor([85 / 255, 255 / 255, 0 / 255, 1])
else:
hand_model.setColor([255 / 255, 0 / 255, 0 / 255, 1])
# Update Gripper State
# -------------- Color = [r, g, b, a] (from 0 to 1 scale) (a = opacity, 0=transparent, 1=solid)
# GREEN = Closed, BLACK = OPEN
if gripper_state == 'OPEN':
gripper_model.setColor([15 / 255, 15 / 255, 15 / 255, 1])
elif gripper_state == 'CLOSED':
gripper_model.setColor([85 / 255, 255 / 255, 0 / 255, 1])
tar = tr(pose.Joints())
# Move Robot on Simulation Only
robot.MoveL([tar[0, 0], tar[0, 1], tar[0, 2], tar[0, 3], tar[0, 4], tar[0, 5], tar[0, 6]])
RDK.Render(True) # Enable simulation again
# Real Robot movement
elif RDK.RunMode() == 6:
RDK.Render(False)
tar = tr(pose.Joints())
""" Change the position of the Joints because KUKA LWR IV+ has declared the third joint as an External Joint.
KUKA LWR IV+ Joints = [A1, A2, E1, A3, A4, A5, A6] and RoboDK sends the joints as [A1, A2, A3, A4, A5, A6, E1] """
robot.MoveJ([tar[0, 0], tar[0, 1], tar[0, 3], tar[0, 4], tar[0, 5], tar[0, 6], tar[0, 2]])
else:
pass
# change robot's joint limits to the modified ones to compute the real joint angles
robot.setJointLimits(ORIGINAL_LOWER_LIMITS, ORIGINAL_UPPER_LIMITS)
# store robot path
robot_xyz = Pose_2_KUKA(pose.PoseAbs())
robot_path.append([robot_xyz[0], robot_xyz[1], robot_xyz[2]])
# Update robot state
robot_state = 'MOVING'
except Exception as e:
print('[ROBODK]: {}'.format(e))
# Update robot state
robot_state = 'IDLE'
robot.setJointLimits(ORIGINAL_LOWER_LIMITS, ORIGINAL_UPPER_LIMITS)
return robot_state, robot_path