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Merge branch 'master' into dependabot/github_actions/pantsbuild/actio…
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ZdenekM authored Feb 8, 2024
2 parents 2bf93b0 + 8a806a0 commit f1e5860
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -78,7 +78,7 @@ The following video by [Kinali](https://www.kinali.cz/en/) shows the use case (o

[README](src/python/arcor2_dobot/README.md) | [CHANGELOG](src/python/arcor2_dobot/CHANGELOG.md)

- 2023-02-14: [1.0.0](https://github.com/robofit/arcor2/releases/tag/arcor2_dobot%2F1.0.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_dobot/tags?page=1&ordering=last_updated&name=1.0.0), [pypi](https://pypi.org/project/arcor2-dobot/1.0.0/)).
- 2024-02-08: [1.1.0](https://github.com/robofit/arcor2/releases/tag/arcor2_dobot%2F1.1.0) ([docker](https://hub.docker.com/r/arcor2/arcor2_dobot/tags?page=1&ordering=last_updated&name=1.1.0), [pypi](https://pypi.org/project/arcor2-dobot/1.1.0/)).

### arcor2_execution

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9 changes: 9 additions & 0 deletions compose-files/fit-demo/docker-compose.lab.yml
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Expand Up @@ -4,8 +4,17 @@ services:
fit-demo-dobot-magician:
environment:
- ARCOR2_DOBOT_MOCK=false
- ARCOR2_DOBOT_BIAS_X=0.06
- ARCOR2_DOBOT_BIAS_Z=-0.06
devices:
- /dev/dobotMagician:/dev/dobot
fit-demo-dobot-magician2:
environment:
- ARCOR2_DOBOT_MOCK=false
- ARCOR2_DOBOT_BIAS_X=0.06
- ARCOR2_DOBOT_BIAS_Z=-0.06
devices:
- /dev/dobotMagician2:/dev/dobot

fit-demo-dobot-m1:
environment:
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25 changes: 23 additions & 2 deletions compose-files/fit-demo/docker-compose.yml
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Expand Up @@ -21,6 +21,8 @@ services:
condition: service_healthy
fit-demo-dobot-magician:
condition: service_healthy
fit-demo-dobot-magician2:
condition: service_healthy
fit-demo-dobot-m1:
condition: service_healthy
ports:
Expand All @@ -32,6 +34,7 @@ services:
- fit-demo-project-network
- fit-demo-asset-network
- fit-demo-dobot-magician-network
- fit-demo-dobot-magician2-network
- fit-demo-dobot-m1-network
- fit-demo-calibration-network
environment:
Expand Down Expand Up @@ -64,6 +67,7 @@ services:
- fit-demo-execution-network
- fit-demo-scene-network
- fit-demo-dobot-magician-network
- fit-demo-dobot-magician2-network
- fit-demo-dobot-m1-network
environment:
- ARCOR2_SCENE_SERVICE_URL=http://fit-demo-scene:5013
Expand Down Expand Up @@ -94,7 +98,7 @@ services:
- ./calibration.yaml:/root/calibration.yaml

fit-demo-dobot-magician:
image: arcor2/arcor2_dobot:1.0.0
image: arcor2/arcor2_dobot:1.1.0
container_name: fit-demo-dobot-magician
depends_on:
fit-demo-scene:
Expand All @@ -109,8 +113,24 @@ services:
- ARCOR2_SCENE_SERVICE_URL=http://fit-demo-scene:5013
- ARCOR2_DOBOT_MODEL=magician

fit-demo-dobot-magician2:
image: arcor2/arcor2_dobot:1.1.0
container_name: fit-demo-dobot-magician2
depends_on:
fit-demo-scene:
condition: service_healthy
networks:
- fit-demo-dobot-magician2-network
- fit-demo-scene-network
ports:
- "5020:5018"
environment:
- ARCOR2_DOBOT_MOCK=true
- ARCOR2_SCENE_SERVICE_URL=http://fit-demo-scene:5013
- ARCOR2_DOBOT_MODEL=magician

fit-demo-dobot-m1:
image: arcor2/arcor2_dobot:1.0.0
image: arcor2/arcor2_dobot:1.1.0
container_name: fit-demo-dobot-m1
depends_on:
fit-demo-scene:
Expand Down Expand Up @@ -231,5 +251,6 @@ networks:
fit-demo-asset-network:
fit-demo-kinect-network:
fit-demo-dobot-magician-network:
fit-demo-dobot-magician2-network:
fit-demo-dobot-m1-network:
fit-demo-calibration-network:
2 changes: 1 addition & 1 deletion src/docker/arcor2_dobot/BUILD
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@@ -1 +1 @@
docker_image(name="arcor2_dobot", repository="arcor2/arcor2_dobot", image_tags=["1.0.0"])
docker_image(name="arcor2_dobot", repository="arcor2/arcor2_dobot", image_tags=["1.1.0"])
2 changes: 1 addition & 1 deletion src/python/arcor2_calibration/VERSION
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@@ -1 +1 @@
1.0.0
1.1.0
6 changes: 6 additions & 0 deletions src/python/arcor2_dobot/CHANGELOG.md
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Expand Up @@ -2,6 +2,12 @@

The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),

## [1.1.0] - 2024-02-08

### Changed

- Added `ARCOR2_DOBOT_BIAS_X`, `ARCOR2_DOBOT_BIAS_Y`, `ARCOR2_DOBOT_BIAS_Z` env. variables to set EEF parameters - offset, which is different for different tools.

## [1.0.0] - 2023-02-14

### Changed
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1 change: 1 addition & 0 deletions src/python/arcor2_dobot/README.md
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Expand Up @@ -4,6 +4,7 @@

- `ARCOR2_DOBOT_URL=http://0.0.0.0:5018` - by default, the service listens on port 5018.
- `ARCOR2_DOBOT_MODEL=magician` - can be set to `magician` or `m1`.
- `ARCOR2_DOBOT_BIAS_X` (as well as `_Y` and `_Z`) - sets EEF parameters (offset), default value is 0.
- `ARCOR2_DOBOT_MOCK=1` - the service will start in a mock (simulator) mode.
- Please note that the mock mode is fully functional only for `magician`. The `m1` does not have IK/FK implemented yet.
`ARCOR2_DOBOT_DEBUG=1` - turns on debug logging.
2 changes: 1 addition & 1 deletion src/python/arcor2_dobot/VERSION
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@@ -1 +1 @@
1.0.0
1.1.0
8 changes: 8 additions & 0 deletions src/python/arcor2_dobot/dobot.py
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Expand Up @@ -6,6 +6,7 @@

import arcor2.transformations as tr
from arcor2.data.common import Joint, Orientation, Pose, StrEnum
from arcor2.env import get_float
from arcor2.exceptions import Arcor2NotImplemented
from arcor2.helpers import NonBlockingLock
from arcor2.object_types.abstract import RobotException
Expand All @@ -14,6 +15,11 @@
# TODO jogging


BIAS_X = get_float("ARCOR2_DOBOT_BIAS_X", 0.0)
BIAS_Y = get_float("ARCOR2_DOBOT_BIAS_Y", 0.0)
BIAS_Z = get_float("ARCOR2_DOBOT_BIAS_Z", 0.0)


class DobotException(RobotException):
pass

Expand Down Expand Up @@ -46,6 +52,8 @@ def __init__(self, pose: Pose, port: str = "/dev/dobot", simulator: bool = False
except DobotApiException as e:
raise DobotApiException("Could not connect to the robot.") from e

self._dobot.set_end_effector_params(BIAS_X, BIAS_Y, BIAS_Z)

else:
self._joint_values: list[Joint] = [] # has to be set to some initial value in derived classes
self._hand_teaching = False
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21 changes: 21 additions & 0 deletions src/python/arcor2_dobot/dobot_api.py
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Expand Up @@ -762,6 +762,27 @@ def _set_cple_cmd(self, x: float, y: float, z: float, power: float, absolute: bo
msg.params.extend(bytearray(struct.pack("f", power)))
return self._send_command(msg)

def get_end_effector_params(self) -> tuple[float, float, float]:
msg = Message()
msg.id = 60
response = self._send_command(msg)

bias_x = struct.unpack_from("f", response.params, 0)[0]
bias_y = struct.unpack_from("f", response.params, 4)[0]
bias_z = struct.unpack_from("f", response.params, 8)[0]

return bias_x, bias_y, bias_z

def set_end_effector_params(self, bias_x: float, bias_y: float, bias_z: float) -> None:
msg = Message()
msg.id = 60
msg.ctrl = 0x3
msg.params = bytearray([])
msg.params.extend(bytearray(struct.pack("f", bias_x)))
msg.params.extend(bytearray(struct.pack("f", bias_y)))
msg.params.extend(bytearray(struct.pack("f", bias_z)))
self._send_command(msg)

def engrave(
self,
image: np.ndarray,
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18 changes: 3 additions & 15 deletions src/python/arcor2_dobot/magician.py
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Expand Up @@ -4,7 +4,7 @@

import arcor2.transformations as tr
from arcor2.data.common import Joint, Orientation, Pose, Position, StrEnum
from arcor2_dobot.dobot import Dobot, DobotException
from arcor2_dobot.dobot import BIAS_X, BIAS_Z, Dobot, DobotException
from arcor2_dobot.dobot_api import DobotApiException


Expand All @@ -20,8 +20,8 @@ class DobotMagician(Dobot):
# Dimensions in meters (according to URDF)
link_2_length = 0.135
link_3_length = 0.147
link_4_length = 0.06
end_effector_length = 0.06
link_4_length = BIAS_X
end_effector_length = -BIAS_Z

def __init__(self, pose: Pose, port: str = "/dev/dobot", simulator: bool = False) -> None:
super(DobotMagician, self).__init__(pose, port, simulator)
Expand All @@ -35,18 +35,6 @@ def __init__(self, pose: Pose, port: str = "/dev/dobot", simulator: bool = False
Joint(Joints.J5, -0.568),
]

def _handle_pose_in(self, pose: Pose) -> None:
base_angle = math.atan2(pose.position.y, pose.position.x)
pose.position.x -= self.link_4_length * math.cos(base_angle)
pose.position.y -= self.link_4_length * math.sin(base_angle)
pose.position.z += self.end_effector_length

def _handle_pose_out(self, pose: Pose) -> None:
base_angle = math.atan2(pose.position.y, pose.position.x)
pose.position.x += self.link_4_length * math.cos(base_angle)
pose.position.y += self.link_4_length * math.sin(base_angle)
pose.position.z -= self.end_effector_length

# TODO joint4/5
valid_ranges: dict[Joints, tuple[float, float]] = {
Joints.J1: (-2, 2),
Expand Down

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