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Universal_Robots_RobotiQ.py
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Universal_Robots_RobotiQ.py
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# Copyright 2017 - RoboDK Software S.L. - http://www.robodk.com/
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
# http://www.apache.org/licenses/LICENSE-2.0
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
# ----------------------------------------------------
# This file is a POST PROCESSOR for Robot Offline Programming to generate programs
# for a Universal Robot with RoboDK
#
# To edit/test this POST PROCESSOR script file:
# Select "Program"->"Add/Edit Post Processor", then select your post or create a new one.
# You can edit this file using any text editor or Python editor. Using a Python editor allows to quickly evaluate a sample program at the end of this file.
# Python should be automatically installed with RoboDK
#
# You can also edit the POST PROCESSOR manually:
# 1- Open the *.py file with Python IDLE (right click -> Edit with IDLE)
# 2- Make the necessary changes
# 3- Run the file to open Python Shell: Run -> Run module (F5 by default)
# 4- The "test_post()" function is called automatically
# Alternatively, you can edit this file using a text editor and run it with Python
#
# To use a POST PROCESSOR file you must place the *.py file in "C:/RoboDK/Posts/"
# To select one POST PROCESSOR for your robot in RoboDK you must follow these steps:
# 1- Open the robot panel (double click a robot)
# 2- Select "Parameters"
# 3- Select "Unlock advanced options"
# 4- Select your post as the file name in the "Robot brand" box
#
# To delete an existing POST PROCESSOR script, simply delete this file (.py file)
#
# ----------------------------------------------------
# More information about RoboDK Post Processors and Offline Programming here:
# http://www.robodk.com/help#PostProcessor
# http://www.robodk.com/doc/en/PythonAPI/postprocessor.html
# ----------------------------------------------------
HEADER_PROG = '''#--------------- ROBOTIQ GRIPPER UTILITY
def RQ_2FG_Close():
global Position_close=255
global Speed_close=255
global Force_close=255
#Allocation of modbus output registers with the desired settings
out_reg2_close = Speed_close * 256 + Force_close
modbus_set_output_register("Speed_Force_Req", out_reg2_close, False)
modbus_set_output_register("Position_Req", Position_close, False)
#Allow movement
modbus_set_output_signal("Go_to_Requested", True, False)
while(modbus_get_signal_status("Action_Status", False) == False):
sync()
end
#Wait until the end of the movement
sleep(0.2)
while (not((modbus_get_signal_status("Obj_Det_Status1", False) == True) or (modbus_get_signal_status("Obj_Det_Status2", False) == True ))):
sleep(0.1)
sync()
end
sleep(0.2)
#Status check object detection
global obj_detect1 = modbus_get_signal_status("Obj_Det_Status1",False)
global obj_detect2 = modbus_get_signal_status("Obj_Det_Status2",False)
if ((obj_detect1 == False) and (obj_detect2 == True)):
global Contact_opening = False
global Contact_closing = True
else:
if ((obj_detect1 == True) and (obj_detect2 == False)):
global Contact_opening = True
global Contact_closing = False
else:
global Contact_opening = False
global Contact_closing = False
end
end
#Prohibit the movement
modbus_set_output_signal("Go_to_Requested", False, False)
while(modbus_get_signal_status("Action_Status", False) == True):
sync()
end
end
def RQ_2FG_Open():
global Position_open=0
global Speed_open=255
global Force_open=255
#Allocation of modbus output registers with the desired settings
out_reg2_open = Speed_open * 256 + Force_open
modbus_set_output_register("Speed_Force_Req", out_reg2_open, False)
modbus_set_output_register("Position_Req", Position_open, False)
#Allow movement
modbus_set_output_signal("Go_to_Requested", True, False)
while(modbus_get_signal_status("Action_Status", False) == False):
sync()
end
#Wait until the end of the movement
sleep(0.2)
while (not((modbus_get_signal_status("Obj_Det_Status1", False) == True) or (modbus_get_signal_status("Obj_Det_Status2", False) == True ))):
sleep(0.1)
sync()
end
sleep(0.2)
#Status check object detection
global obj_detect1 = modbus_get_signal_status("Obj_Det_Status1",False)
global obj_detect2 = modbus_get_signal_status("Obj_Det_Status2",False)
if ((obj_detect1 == False) and (obj_detect2 == True)):
global Contact_opening = False
global Contact_closing = True
else:
if ((obj_detect1 == True) and (obj_detect2 == False)):
global Contact_opening = True
global Contact_closing = False
else:
global Contact_opening = False
global Contact_closing = False
end
end
#Prohibit the movement
modbus_set_output_signal("Go_to_Requested", False, False)
while(modbus_get_signal_status("Action_Status", False) == True):
sync()
end
end
#Activation if not activated
if ((modbus_get_signal_status("Gripper_Status1", False) == False) and (modbus_get_signal_status("Gripper_Status2", False) == False)):
modbus_set_output_signal("Activate", True, False)
end
#Prohibit the movement
modbus_set_output_signal("Go_to_Requested", False, False)
while (modbus_get_signal_status("Action_Status", False) == True):
sync()
end
#Awaiting the activation of the gripper
while (not(modbus_get_signal_status("Gripper_Status1", False) == True )):
sync()
end
while (not(modbus_get_signal_status("Gripper_Status2", False) == True )):
sync()
end
'''
# ----------------------------------------------------
# Import RoboDK tools
from robodk import *
# ----------------------------------------------------
def pose_2_ur(pose):
"""Calculate the p[x,y,z,rx,ry,rz] position for a pose target"""
def saturate_1(value):
return min(max(value,-1.0),1.0)
angle = acos( saturate_1((pose[0,0]+pose[1,1]+pose[2,2]-1)/2) )
rxyz = [pose[2,1]-pose[1,2], pose[0,2]-pose[2,0], pose[1,0]-pose[0,1]]
if angle == 0:
rxyz = [0,0,0]
else:
rxyz = normalize3(rxyz)
rxyz = mult3(rxyz, angle)
return [pose[0,3], pose[1,3], pose[2,3], rxyz[0], rxyz[1], rxyz[2]]
def pose_2_str(pose):
"""Prints a pose target"""
[x,y,z,w,p,r] = pose_2_ur(pose)
MM_2_M = 0.001
return ('p[%.6f, %.6f, %.6f, %.6f, %.6f, %.6f]' % (x*MM_2_M,y*MM_2_M,z*MM_2_M,w,p,r))
def angles_2_str(angles):
"""Prints a joint target"""
njoints = len(angles)
d2r = pi/180.0
if njoints == 6:
return ('[%.6f, %.6f, %.6f, %.6f, %.6f, %.6f]' % (angles[0]*d2r, angles[1]*d2r, angles[2]*d2r, angles[3]*d2r, angles[4]*d2r, angles[5]*d2r))
else:
return 'this post only supports 6 joints'
# ----------------------------------------------------
# Object class that handles the robot instructions/syntax
class RobotPost(object):
"""Robot post object"""
PROG_EXT = 'script' # set the program extension
SPEED_MS = 0.3 # default speed for linear moves in m/s
SPEED_RADS = 0.75 # default speed for joint moves in rad/s
ACCEL_MSS = 3 # default acceleration for lineaer moves in m/ss
ACCEL_RADSS = 1.2 # default acceleration for joint moves in rad/ss
BLEND_RADIUS_M = 0.001 # default blend radius in meters (corners smoothing)
REF_FRAME = eye(4) # default reference frame (the robot reference frame)
LAST_POS = None # last XYZ position
# other variables
ROBOT_POST = 'unset'
ROBOT_NAME = 'generic'
PROG_FILES = []
MAIN_PROGNAME = 'unknown'
PROG = ''
TAB = ''
LOG = ''
def __init__(self, robotpost=None, robotname=None, robot_axes = 6, **kwargs):
self.ROBOT_POST = robotpost
self.ROBOT_NAME = robotname
self.nPROGS = 0
self.PROG = ''
self.LOG = ''
def ProgStart(self, progname):
self.nPROGS = self.nPROGS + 1
self.addline('def %s():' % progname)
self.TAB = ' '
if self.nPROGS == 1:
self.MAIN_PROGNAME = progname
self.addline(HEADER_PROG)
self.addline('# default parameters:')
self.addline('global speed_ms = %.3f' % self.SPEED_MS)
self.addline('global speed_rads = %.3f' % self.SPEED_RADS)
self.addline('global accel_mss = %.3f' % self.ACCEL_MSS)
self.addline('global accel_radss = %.3f' % self.ACCEL_RADSS)
self.addline('global blend_radius_m = %.3f' % self.BLEND_RADIUS_M)
def ProgFinish(self, progname):
self.TAB = ''
self.addline('end')
self.addline('')
def ProgSave(self, folder, progname, ask_user = False, show_result = False):
self.addline('%s()' % self.MAIN_PROGNAME)
progname = progname + '.' + self.PROG_EXT
if ask_user or not DirExists(folder):
filesave = getSaveFile(folder, progname, 'Save program as...')
if filesave is not None:
filesave = filesave.name
else:
return
else:
filesave = folder + '/' + progname
fid = open(filesave, "w")
fid.write(self.PROG)
fid.close()
print('SAVED: %s\n' % filesave) # tell RoboDK the path of the saved file
self.PROG_FILES = filesave
# open file with default application
if show_result:
if type(show_result) is str:
# Open file with provided application
import subprocess
p = subprocess.Popen([show_result, filesave])
elif type(show_result) is list:
import subprocess
p = subprocess.Popen(show_result + [filesave])
else:
# open file with default application
import os
os.startfile(filesave)
if len(self.LOG) > 0:
mbox('Program generation LOG:\n\n' + self.LOG)
def ProgSendRobot(self, robot_ip, remote_path, ftp_user, ftp_pass):
"""Send a program to the robot using the provided parameters. This method is executed right after ProgSave if we selected the option "Send Program to Robot".
The connection parameters must be provided in the robot connection menu of RoboDK"""
UploadFTP(self.PROG_FILES, robot_ip, remote_path, ftp_user, ftp_pass)
def blend_radius_check(self, pose):
# check that the blend radius covers 40% of the move (at most)
blend_radius = 'blend_radius_m';
current_pos = pose.Pos()
if self.LAST_POS is None:
blend_radius = '0'
else:
distance = norm(subs3(self.LAST_POS, current_pos)) # in mm
if 0.4*distance < self.BLEND_RADIUS_M*1000:
blend_radius = '%.3f' % (0.4*distance*0.001)
self.LAST_POS = current_pos
return blend_radius
def MoveJ(self, pose, joints, conf_RLF=None):
"""Add a joint movement"""
if pose is None:
blend_radius = "0"
self.LAST_POS = None
else:
blend_radius = self.blend_radius_check(pose)
self.addline('movej(%s,accel_radss,speed_rads,0,%s)' % (angles_2_str(joints), blend_radius))
def MoveL(self, pose, joints, conf_RLF=None):
"""Add a linear movement"""
# Movement in joint space or Cartesian space should give the same result:
# pose_wrt_base = self.REF_FRAME*pose
# self.addline('movel(%s,accel_mss,speed_ms,0,blend_radius_m)' % (pose_2_str(pose_wrt_base)))
if pose is None:
blend_radius = "0"
self.LAST_POS = None
else:
blend_radius = self.blend_radius_check(pose)
self.addline('movel(%s,accel_mss,speed_ms,0,%s)' % (angles_2_str(joints), blend_radius))
def MoveC(self, pose1, joints1, pose2, joints2, conf_RLF_1=None, conf_RLF_2=None):
"""Add a circular movement"""
blend_radius = self.blend_radius_check(pose2)
self.addline('movec(%s,%s,accel_mss,speed_ms,%s)' % (angles_2_str(joints1),angles_2_str(joints2), blend_radius))
def setFrame(self, pose, frame_id=None, frame_name=None):
"""Change the robot reference frame"""
# the reference frame is not needed if we use joint space for joint and linear movements
# the reference frame is also not needed if we use cartesian moves with respect to the robot base frame
# the cartesian targets must be pre-multiplied by the active reference frame
self.REF_FRAME = pose
self.addline('# set_reference(%s)' % pose_2_str(pose))
def setTool(self, pose, tool_id=None, tool_name=None):
"""Change the robot TCP"""
self.addline('set_tcp(%s)' % pose_2_str(pose))
def Pause(self, time_ms):
"""Pause the robot program"""
if time_ms <= 0:
self.addline('halt() # reimplement this function to force stop')
else:
self.addline('sleep(%.3f)' % (time_ms*0.001))
def setSpeed(self, speed_mms):
"""Changes the robot speed (in mm/s)"""
self.SPEED_MS = speed_mms/1000.0
self.addline('speed_ms = %.3f' % self.SPEED_MS)
def setAcceleration(self, accel_mmss):
"""Changes the robot acceleration (in mm/s2)"""
self.ACCEL_MSS = accel_mmss/1000.0
self.addline('accel_mss = %.3f' % self.ACCEL_MSS)
def setSpeedJoints(self, speed_degs):
"""Changes the robot joint speed (in deg/s)"""
self.SPEED_RADS = speed_degs*pi/180
self.addline('speed_rads = %.3f' % self.SPEED_RADS)
def setAccelerationJoints(self, accel_degss):
"""Changes the robot joint acceleration (in deg/s2)"""
self.ACCEL_RADSS = accel_degss*pi/180
self.addline('accel_radss = %.3f' % self.ACCEL_RADSS)
def setZoneData(self, zone_mm):
"""Changes the zone data approach (makes the movement more smooth)"""
if zone_mm < 0:
zone_mm = 0
self.BLEND_RADIUS_M = zone_mm / 1000.0
self.addline('blend_radius_m = %.3f' % self.BLEND_RADIUS_M)
def setDO(self, io_var, io_value):
"""Sets a variable (output) to a given value"""
if type(io_value) != str: # set default variable value if io_value is a number
if io_value > 0:
io_value = 'True'
else:
io_value = 'False'
if type(io_var) != str: # set default variable name if io_var is a number
newline = 'set_standard_digital_out(%s, %s)' % (str(io_var), io_value)
else:
newline = '%s = %s' % (io_var, io_value)
self.addline(newline)
def waitDI(self, io_var, io_value, timeout_ms=-1):
"""Waits for an input io_var to attain a given value io_value. Optionally, a timeout can be provided."""
if type(io_var) != str: # set default variable name if io_var is a number
io_var = 'get_standard_digital_in(%s)' % str(io_var)
if type(io_value) != str: # set default variable value if io_value is a number
if io_value > 0:
io_value = 'True'
else:
io_value = 'False'
# at this point, io_var and io_value must be string values
#if timeout_ms < 0:
self.addline('while (%s != %s):' % (io_var, io_value))
self.addline(' sync()')
self.addline('end')
def RunCode(self, code, is_function_call = False):
"""Adds code or a function call"""
if is_function_call:
code.replace(' ','_')
if not code.endswith(')'):
code = code + '()'
self.addline(code)
else:
#self.addline(code)
self.addline('# ' + code) #generate custom code as a comment
def RunMessage(self, message, iscomment = False):
"""Show a message on the controller screen"""
if iscomment:
self.addline('# ' + message)
else:
self.addline('popup("%s","Message",False,False,blocking=True)' % message)
# ------------------ private ----------------------
def addline(self, newline):
"""Add a program line"""
self.PROG = self.PROG + self.TAB + newline + '\n'
def addlog(self, newline):
"""Add a log message"""
self.LOG = self.LOG + newline + '\n'
# -------------------------------------------------
# ------------ For testing purposes ---------------
def Pose(xyzrpw):
[x,y,z,r,p,w] = xyzrpw
a = r*math.pi/180
b = p*math.pi/180
c = w*math.pi/180
ca = math.cos(a)
sa = math.sin(a)
cb = math.cos(b)
sb = math.sin(b)
cc = math.cos(c)
sc = math.sin(c)
return Mat([[cb*ca, ca*sc*sb - cc*sa, sc*sa + cc*ca*sb, x],[cb*sa, cc*ca + sc*sb*sa, cc*sb*sa - ca*sc, y],[-sb, cb*sc, cc*cb, z],[0,0,0,1]])
def test_post():
"""Test the post with a basic program"""
robot = RobotPost('Universal Robotics', 'Generic UR robot')
robot.ProgStart("Program")
robot.RunMessage("Program generated by RoboDK", True)
robot.setFrame(Pose([807.766544, -963.699898, 41.478944, 0, 0, 0]))
robot.setTool(Pose([62.5, -108.253175, 100, -60, 90, 0]))
robot.setSpeed(100) # set speed to 100 mm/s
robot.setAcceleration(3000) # set speed to 3000 mm/ss
robot.MoveJ(Pose([200, 200, 500, 180, 0, 180]), [-46.18419, -6.77518, -20.54925, 71.38674, 49.58727, -302.54752] )
robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
robot.MoveL(Pose([200, 200, 262.132034, 180, 0, -150]), [-43.73892, -3.91728, -35.77935, 58.57566, 54.11615, -253.81122] )
robot.RunMessage("Setting air valve 1 on")
robot.RunCode("TCP_On", True)
robot.Pause(1000)
robot.MoveL(Pose([200, 250, 348.734575, 180, 0, -150]), [-41.62707, -8.89064, -30.01809, 60.62329, 49.66749, -258.98418] )
robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
robot.MoveL(Pose([250, 250, 191.421356, 180, 0, -150]), [-39.75778, -1.04537, -40.37883, 52.09118, 54.15317, -246.94403] )
robot.RunMessage("Setting air valve off")
robot.RunCode("TCP_Off", True)
robot.Pause(1000)
robot.MoveL(Pose([250, 300, 278.023897, 180, 0, -150]), [-37.52588, -6.32628, -34.59693, 53.52525, 49.24426, -251.44677] )
robot.MoveL(Pose([250, 200, 278.023897, 180, 0, -150]), [-41.85389, -1.95619, -34.89154, 57.43912, 52.34162, -253.73403] )
robot.MoveL(Pose([250, 150, 191.421356, 180, 0, -150]), [-43.82111, 3.29703, -40.29493, 56.02402, 56.61169, -249.23532] )
robot.ProgFinish("Program")
# robot.ProgSave(".","Program",True)
print(robot.PROG)
if len(robot.LOG) > 0:
mbox('Program generation LOG:\n\n' + robot.LOG)
input("Press Enter to close...")
if __name__ == "__main__":
"""Function to call when the module is executed by itself: test"""
test_post()