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control_ur5.py
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#!/usr/bin/env python
# Copyright (C) 2017 The University of Leeds
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program. If not, see <http://www.gnu.org/licenses/>.
import IPython
import numpy
from openravepy import IkFilterOptions
from openravepy import matrixFromAxisAngle
from openravepy import PlanningError
from ur5_factory import UR5_Factory
__author__ = "Rafael Papallas"
__authors__ = ["Rafael Papallas"]
__copyright__ = "Copyright (C) 2018, The University of Leeds"
__credits__ = ["Rafael Papallas", "Dr. Mehmet Dogar"]
__email__ = "Rafael: [email protected] | Mehmet: [email protected]"
__license__ = "GPLv3"
__maintainer__ = "Rafael Papallas"
__status__ = "Production"
__version__ = "0.0.1"
class Demo:
def __init__(self):
ur5_factory = UR5_Factory()
# The create_ur5_and_env() method takes also the following optional
# arguments: is_simulation, has_ridgeback, gripper_name,
# has_force_torque_sensor, env_path, viewer_name, urdf_path, and
# srdf_path. See ur5_factory.py class for more details.
self.env, self.robot = ur5_factory.create_ur5_and_env(env_path="test_env.xml",
has_force_torque_sensor=False,
is_simulation=False)
self.move_robot_to_start_transform()
def move_robot_to_start_transform(self):
# Move manipulator to the start transform (just above the table
# surface)
start_transform = numpy.eye(4)
start_transform[0, 3] = 0.80917
start_transform[1, 3] = 0.05212
start_transform[2, 3] = 0.81
ik_solution = self.robot.manipulator.FindIKSolution(start_transform, IkFilterOptions.CheckEnvCollisions)
self.robot.base_manipulation.MoveManipulator(goal=ik_solution)
def is_trajectory_safe(self, trajectory_object):
waypoints = trajectory_object.GetAllWaypoints2D()
waypoint_sums = [0, 0, 0, 0, 0, 0]
for i in range(0, len(waypoints) - 1):
for j in range(0, 6):
difference = abs(waypoints[i][j] - waypoints[i+1][j])
waypoint_sums[j] += difference
waypoint_below_threshold = [x < numpy.pi/3 for x in waypoint_sums]
return all(waypoint_below_threshold)
def rotate_hand(self, rotation_matrix):
current_hand_transform = self.robot.end_effector_transform
goal_transform = numpy.dot(current_hand_transform, rotation_matrix)
ik_solution = self.robot.manipulator.FindIKSolution(goal_transform, IkFilterOptions.CheckEnvCollisions)
if ik_solution is not None:
try:
trajectory_object = self.robot.base_manipulation.MoveManipulator(goal=ik_solution, execute=False, outputtrajobj=True)
except PlanningError, e:
print "There was a planning error"
print e
if trajectory_object and self.is_trajectory_safe(trajectory_object):
self.execute_trajectory_object(trajectory_object)
else:
print "The trajectory failed the safety check."
else:
print "No IK Solution found."
def move_hand(self, x_offset, y_offset):
current_hand_transform = self.robot.end_effector_transform
current_hand_transform[0, 3] += x_offset
current_hand_transform[1, 3] += y_offset
ik_solution = self.robot.manipulator.FindIKSolution(current_hand_transform, IkFilterOptions.CheckEnvCollisions)
if ik_solution is not None:
try:
trajectory_object = self.robot.base_manipulation.MoveManipulator(goal=ik_solution, execute=False, outputtrajobj=True)
except PlanningError, e:
print "There was a planning error"
print e
if trajectory_object and self.is_trajectory_safe(trajectory_object):
self.robot.execute_trajectory_and_wait_for_controller(trajectory_object)
else:
print "The trajectory failed the safety check."
else:
print "No IK Solution found."
def control_robot_with_the_keyboard(self):
OFFSET = 0.07
print ""
print "w: Move arm forward."
print "s: Move arm backwards."
print "a: Move arm left."
print "d: Move arm right."
print "q: Rotate end-effector anticlockwise."
print "e: Rotate end-effector clockwise."
print "o: Open end-effector."
print "c: Close end-effector."
print ""
print "Type 'exit' to stop the demo and enter in IPython environment."
while True:
action = raw_input("Menu Action: ")
if action == "exit": # EXIT Demo
break
if action == "q": # Rotate Anti-clockwise
anticlockwise = matrixFromAxisAngle([0, 0, numpy.pi/6])
self.rotate_hand(anticlockwise)
elif action == "e": # Rotate Clockwise
clockwise = matrixFromAxisAngle([0, 0, -numpy.pi/6])
self.rotate_hand(clockwise)
elif action == "o": # Open Gripper
self.robot.open_gripper()
elif action == "c": # Close Gripper
self.robot.close_gripper()
elif action in ["w", "s", "a", "d"]:
x_offset = 0
y_offset = 0
if action == "w": x_offset = OFFSET # Move Forward
if action == "s": x_offset = -OFFSET # Move Backwards
if action == "a": y_offset = -OFFSET # Move Left
if action == "d": y_offset = OFFSET # Move Right
self.move_hand(x_offset, y_offset)
if __name__ == "__main__":
demo = Demo()
demo.control_robot_with_the_keyboard()
IPython.embed()