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grip_bottle_and_ball.py
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import socket
from robotic_arm_package.robotic_arm import *
from roh_registers_v1 import *
ARM_IP = "192.168.1.18"
COM_PORT = 1
ROH_ADDR = 2
RIGHT_HAND = 0
LEFT_HAND = 1
HAND_SELECTED = LEFT_HAND #选择左手或者右手
LOOP_TIME = 100 #循环次数
ARM_SPEED = 70 #机械臂速度/%
DELAY_TIME = 0.5 #延时时间/s
TABLE_HEIGHT = 0.72 #桌面高度/m
BASE_HEIGHT = 0.80 #+ 0.01 #底座高度/m
OBJECT_DISTANCE = 0.56 #底座接线口右侧中心离中间孔距离/m
HOLE_DISTANCE = 0.1775 #孔距/m
OFFSET_BASE_TABLE = TABLE_HEIGHT - BASE_HEIGHT #采用桌面底座高度差，计算Z偏移值
POS_LEFT = 0
POS_MIDDLE = 1
POS_RIGHT = 2
def L_BYTE(v):
return v & 0xFF
def H_BYTE(v):
return (v >> 8) & 0xFF
#
# finger control
def finger_move(target, num_finger, HAND_POS, delay):
robot.Write_Registers(
COM_PORT,
target,
num_finger,
HAND_POS,
ROH_ADDR,
True
)
time.sleep(delay)
MAX_SINGLE_FINGER_POS = [H_BYTE(65535), L_BYTE(65535)]
MIN_SINGLE_FINGER_POS = [H_BYTE(0), L_BYTE(0)]
HAND_FIST_CLOSE_POS = [
H_BYTE(0), L_BYTE(0),
H_BYTE(65535), L_BYTE(65535),
H_BYTE(65535), L_BYTE(65535),
H_BYTE(65535), L_BYTE(65535),
H_BYTE(65535), L_BYTE(65535),
H_BYTE(65535), L_BYTE(65535),
]
HAND_FIST_OPEN_POS = [
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(65535), L_BYTE(65535),
]
HAND_VICTORY_POS = [
H_BYTE(65535), L_BYTE(65535),
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(65535), L_BYTE(65535),
H_BYTE(65535), L_BYTE(65535),
H_BYTE(65535), L_BYTE(65535),
]
target_fingers = [
ROH_FINGER_POS_TARGET0,
ROH_FINGER_POS_TARGET1,
ROH_FINGER_POS_TARGET2,
ROH_FINGER_POS_TARGET3,
ROH_FINGER_POS_TARGET4,
ROH_FINGER_POS_TARGET5,
]
#
# poses for ball
POSE_LIFT_LEFT_BALL_BACK_HIGH = [
[ 0.016 - HOLE_DISTANCE, -0.226 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 1.568, -1.07, 3.042],
[-0.024 - HOLE_DISTANCE, -0.226 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 1.568, -1.07, 3.042]
]
POSE_LIFT_MIDDLE_BALL_BACK_HIGH = [
[ 0.016, -0.226 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 1.568, -1.07, 3.042],
[-0.024, -0.226 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 1.568, -1.07, 3.042]
]
POSE_LIFT_RIGHT_BALL_BACK_HIGH = [
[ 0.016 + HOLE_DISTANCE, -0.226 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 1.568, -1.07, 3.042],
[-0.024 + HOLE_DISTANCE, -0.226 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 1.568, -1.07, 3.042]
]
POSE_LIFT_BALL_BACK_HIGH = [
POSE_LIFT_LEFT_BALL_BACK_HIGH[HAND_SELECTED],
POSE_LIFT_MIDDLE_BALL_BACK_HIGH[HAND_SELECTED],
POSE_LIFT_RIGHT_BALL_BACK_HIGH[HAND_SELECTED]
]
POSE_GRASP_LEFT_BALL = [
[ 0.016 - HOLE_DISTANCE, -0.084 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361],
[-0.024 - HOLE_DISTANCE, -0.084 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361]
]
POSE_GRASP_MIDDLE_BALL = [
[ 0.016 , -0.084 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361],
[-0.024 , -0.084 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361]
]
POSE_GRASP_RIGHT_BALL = [
[ 0.016 + HOLE_DISTANCE, -0.084 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361],
[-0.024 + HOLE_DISTANCE, -0.084 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361]
]
POSE_GRASP_BALL = [
POSE_GRASP_LEFT_BALL[HAND_SELECTED],
POSE_GRASP_MIDDLE_BALL[HAND_SELECTED],
POSE_GRASP_RIGHT_BALL[HAND_SELECTED]
]
POSE_LIFT_LEFT_BALL_HIGH = [
[ 0.016 - HOLE_DISTANCE, -0.084 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361],
[-0.024 - HOLE_DISTANCE, -0.084 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361]
]
POSE_LIFT_MIDDLE_BALL_HIGH = [
[ 0.016, -0.084 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361],
[-0.024, -0.084 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361]
]
POSE_LIFT_RIGHT_BALL_HIGH = [
[ 0.016 + HOLE_DISTANCE, -0.084 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361],
[-0.024 + HOLE_DISTANCE, -0.084 + OBJECT_DISTANCE, 0.281 + OFFSET_BASE_TABLE, 2.382, -0.832, 2.361]
]
POSE_LIFT_BALL_HIGH = [
POSE_LIFT_LEFT_BALL_HIGH[HAND_SELECTED],
POSE_LIFT_MIDDLE_BALL_HIGH[HAND_SELECTED],
POSE_LIFT_RIGHT_BALL_HIGH[HAND_SELECTED]
]
HAND_READY_GRASP_BALL_POS = [
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(50535),L_BYTE(50535),
]
HAND_GRASP_BALL_POS = [
H_BYTE(9000), L_BYTE(9000),
H_BYTE(18000), L_BYTE(18000),
H_BYTE(20000), L_BYTE(20000),
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(50535), L_BYTE(50535),
]
#
# poses for bottle
POSE_LIFT_LEFT_BOTTLE_BACK_HIGH = [
[ 0.037 - HOLE_DISTANCE, -0.256 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, -1.573, -0.474, -0.155],
[-0.037 - HOLE_DISTANCE, -0.256 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 1.573, 0.474, -3.034]
]
POSE_LIFT_MIDDLE_BOTTLE_BACK_HIGH = [
[ 0.037, -0.256 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, -1.573, -0.474, -0.155],
[-0.037, -0.256 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 1.573, 0.474, -3.034]
]
POSE_LIFT_RIGHT_BOTTLE_BACK_HIGH = [
[ 0.037 + HOLE_DISTANCE, -0.256 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, -1.573, -0.474, -0.155],
[-0.037 + HOLE_DISTANCE, -0.256 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 1.573, 0.474, -3.034]
]
POSE_LIFT_BOTTLE_BACK_HIGH = [
POSE_LIFT_LEFT_BOTTLE_BACK_HIGH[HAND_SELECTED],
POSE_LIFT_MIDDLE_BOTTLE_BACK_HIGH[HAND_SELECTED],
POSE_LIFT_RIGHT_BOTTLE_BACK_HIGH[HAND_SELECTED]
]
POSE_GRASP_LEFT_BOTTLE = [
[ 0.037 - HOLE_DISTANCE, -0.112 + OBJECT_DISTANCE, 0.181 + OFFSET_BASE_TABLE, -1.573, -0.474, -0.055],
[-0.037 - HOLE_DISTANCE, -0.112 + OBJECT_DISTANCE, 0.181 + OFFSET_BASE_TABLE, 1.573, 0.474, 3.149]
]
POSE_GRASP_MIDDLE_BOTTLE = [
[ 0.037, -0.112 + OBJECT_DISTANCE, 0.181 + OFFSET_BASE_TABLE, -1.573, -0.474, -0.055],
[-0.037, -0.112 + OBJECT_DISTANCE, 0.181 + OFFSET_BASE_TABLE, 1.573, 0.474, 3.149]
]
POSE_GRASP_RIGHT_BOTTLE = [
[ 0.037 + HOLE_DISTANCE, -0.112 + OBJECT_DISTANCE, 0.181 + OFFSET_BASE_TABLE, -1.573, -0.474, -0.055],
[-0.037 + HOLE_DISTANCE, -0.112 + OBJECT_DISTANCE, 0.181 + OFFSET_BASE_TABLE, 1.573, 0.474, 3.149]
]
POSE_GRASP_BOTTLE = [
POSE_GRASP_LEFT_BOTTLE[HAND_SELECTED],
POSE_GRASP_MIDDLE_BOTTLE[HAND_SELECTED],
POSE_GRASP_RIGHT_BOTTLE[HAND_SELECTED]
]
POSE_LIFT_LEFT_BOTTLE_HIGH = [
[ 0.037 - HOLE_DISTANCE, -0.112 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, -1.573, -0.474, -0.155],
[-0.037 - HOLE_DISTANCE, -0.112 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 1.573, 0.474, 3.149]
]
POSE_LIFT_MIDDLE_BOTTLE_HIGH = [
[ 0.037, -0.112 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, -1.573, -0.474, -0.155],
[-0.037, -0.112 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 1.573, 0.474, 3.149]
]
POSE_LIFT_RIGHT_BOTTLE_HIGH = [
[ 0.037 + HOLE_DISTANCE, -0.112 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, -1.573, -0.474, -0.155],
[-0.037 + HOLE_DISTANCE, -0.112 + OBJECT_DISTANCE, 0.231 + OFFSET_BASE_TABLE, 1.573, 0.474, 3.149]
]
POSE_LIFT_BOTTLE_HIGH = [
POSE_LIFT_LEFT_BOTTLE_HIGH[HAND_SELECTED],
POSE_LIFT_MIDDLE_BOTTLE_HIGH[HAND_SELECTED],
POSE_LIFT_RIGHT_BOTTLE_HIGH[HAND_SELECTED]
]
HAND_READY_GRASP_BOTTLE_POS = [
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(0), L_BYTE(0),
H_BYTE(65535),L_BYTE(65535),
]
HAND_GRASP_BOTTLE_POS = [
H_BYTE(15000),L_BYTE(15000),
H_BYTE(30000),L_BYTE(30000),
H_BYTE(21000),L_BYTE(21000),
H_BYTE(19000),L_BYTE(19000),
H_BYTE(16000),L_BYTE(16000),
H_BYTE(65535),L_BYTE(65535),
]
HAND_INITIAL_POS = [
H_BYTE(0),L_BYTE(0),
H_BYTE(0),L_BYTE(0),
H_BYTE(0),L_BYTE(0),
H_BYTE(0),L_BYTE(0),
H_BYTE(0),L_BYTE(0),
H_BYTE(0),L_BYTE(0),
]
joint_initial = [78.609, 0, 0, 0, 0, 0] # 机械臂零位角度（第一关节预设定，防止摆动范围过大）
joint_Victory = [
[78.609, 2.912, -123.641, -2.634, 110.595, -48.045], # 比耶左边角度
[78.609, 2.912, -123.641, -2.634, 110.595, -18.045], # 比耶中间角度
[78.609, 2.912, -123.641, -2.634, 110.595, 11.954] # 比耶右边角度
]
joint_Dance =[89.638, -59.8, -124.738, 3.685, 111.726, -17.166] # 手指舞角度
def move_ball(from_pos, to_pos):
ret = robot.Movel_Cmd(POSE_LIFT_BALL_BACK_HIGH[from_pos], ARM_SPEED, 0, True)
finger_move(target_fingers[0], 6, HAND_READY_GRASP_BALL_POS, DELAY_TIME)
ret = robot.Movel_Cmd(POSE_LIFT_BALL_HIGH[from_pos], ARM_SPEED, 0, True)
ret = robot.Movel_Cmd(POSE_GRASP_BALL[from_pos], ARM_SPEED, 0, True)
finger_move(target_fingers[0], 6, HAND_GRASP_BALL_POS, DELAY_TIME)
ret = robot.Movel_Cmd(POSE_LIFT_BALL_HIGH[from_pos], ARM_SPEED, 0, True)
ret = robot.Movel_Cmd(POSE_LIFT_BALL_BACK_HIGH[from_pos], ARM_SPEED, 0, True)
ret = robot.Movel_Cmd(POSE_LIFT_BALL_BACK_HIGH[to_pos], ARM_SPEED, 0, True)
ret = robot.Movel_Cmd(POSE_LIFT_BALL_HIGH[to_pos], ARM_SPEED, 0, True)
ret = robot.Movel_Cmd(POSE_GRASP_BALL[to_pos], ARM_SPEED, 0, True)
finger_move(target_fingers[0], 6, HAND_READY_GRASP_BALL_POS, DELAY_TIME)
ret = robot.Movel_Cmd(POSE_LIFT_BALL_HIGH[to_pos], ARM_SPEED, 0, True)
finger_move(target_fingers[0], 6, HAND_INITIAL_POS, DELAY_TIME)
ret = robot.Movel_Cmd(POSE_LIFT_BALL_BACK_HIGH[to_pos], ARM_SPEED, 0, True)
def move_bottle(from_pos, to_pos):
ret = robot.Movel_Cmd(POSE_LIFT_BOTTLE_BACK_HIGH[from_pos], ARM_SPEED, 0, True)
finger_move(target_fingers[0], 6, HAND_READY_GRASP_BOTTLE_POS, DELAY_TIME)
ret = robot.Movel_Cmd(POSE_GRASP_BOTTLE[from_pos], ARM_SPEED, 0, True)
robot.Write_Registers(COM_PORT, ROH_FINGER_POS_TARGET0, 6,
HAND_GRASP_BOTTLE_POS,
ROH_ADDR,
True,
)
time.sleep(DELAY_TIME)
ret = robot.Movel_Cmd(POSE_LIFT_BOTTLE_HIGH[from_pos], ARM_SPEED, 0, True)
ret = robot.Movel_Cmd(POSE_LIFT_BOTTLE_BACK_HIGH[from_pos], ARM_SPEED, 0, True)
ret = robot.Movel_Cmd(POSE_LIFT_BOTTLE_BACK_HIGH[to_pos], ARM_SPEED, 0, True)
ret = robot.Movel_Cmd(POSE_LIFT_BOTTLE_HIGH[to_pos], ARM_SPEED, 0, True)
ret = robot.Movel_Cmd(POSE_GRASP_BOTTLE[to_pos], ARM_SPEED, 0, True)
finger_move(target_fingers[0], 6, HAND_READY_GRASP_BOTTLE_POS, DELAY_TIME)
ret = robot.Movel_Cmd(POSE_LIFT_BOTTLE_BACK_HIGH[to_pos], ARM_SPEED, 0, True)
finger_move(target_fingers[0], 6, HAND_INITIAL_POS, DELAY_TIME)
while True:
s = socket.socket(socket.AF_INET,socket.SOCK_STREAM)
try:
s.connect((ARM_IP, 8080))
s.close()
break
except socket.error:
print("connect time out, try again")
time.sleep(1)
print("Init arm")
robot = Arm(RM65, ARM_IP)
if __name__ == "__main__":
robot.Close_Modbustcp_Mode()
robot.Set_Modbus_Mode(1, 115200, 1, True)
counter = 0
#while counter < LOOP_TIME:
while True:
finger_move(target_fingers[0], 6, HAND_INITIAL_POS, DELAY_TIME)
ret = robot.Movej_Cmd(joint_initial, 30, 0, True)
ret = robot.Movej_Cmd(joint_Dance, 30, 0, True) # 手指舞角度
# 手指依次动
for target in reversed(target_fingers):
finger_move(target, 1, MAX_SINGLE_FINGER_POS, DELAY_TIME)
for target in target_fingers:
finger_move(target, 1, MIN_SINGLE_FINGER_POS, DELAY_TIME)
# 握拳1
finger_move(target_fingers[5], 1, MAX_SINGLE_FINGER_POS, DELAY_TIME)
finger_move(target_fingers[0], 6, HAND_FIST_CLOSE_POS, DELAY_TIME)
finger_move(target_fingers[0], 1, MAX_SINGLE_FINGER_POS, 1)
# 握拳2
finger_move(target_fingers[0], 1, MIN_SINGLE_FINGER_POS, DELAY_TIME)
finger_move(target_fingers[0], 6, HAND_FIST_OPEN_POS, DELAY_TIME)
time.sleep(0.5)
finger_move(target_fingers[0], 6, HAND_FIST_CLOSE_POS, DELAY_TIME)
finger_move(target_fingers[0], 1, MAX_SINGLE_FINGER_POS, 1)
finger_move(target_fingers[0], 1, MIN_SINGLE_FINGER_POS, 1)
finger_move(target_fingers[0], 6, HAND_FIST_OPEN_POS, DELAY_TIME)
finger_move(target_fingers[5], 1, MIN_SINGLE_FINGER_POS, DELAY_TIME)
time.sleep(1)
# initial state: bottle @ middle, ball @ left
move_bottle(POS_MIDDLE, POS_RIGHT) # bottle -> right, ball @ left
time.sleep(DELAY_TIME)
move_ball(POS_LEFT, POS_MIDDLE) # bottle @ right, ball -> middle
time.sleep(DELAY_TIME)
move_bottle(POS_RIGHT, POS_LEFT) # bottle -> left, ball @ middle
time.sleep(DELAY_TIME)
move_ball(POS_MIDDLE, POS_RIGHT) # bottle @ left, ball -> right
time.sleep(DELAY_TIME)
move_bottle(POS_LEFT, POS_MIDDLE) # bottle -> middle, ball @ right
time.sleep(DELAY_TIME)
move_ball(POS_RIGHT, POS_LEFT) # bottle @ middle, ball -> left
time.sleep(DELAY_TIME)
ret = robot.Movej_Cmd(joint_Victory[POS_MIDDLE], 30, 0, True) # 比耶
finger_move(target_fingers[0], 6, HAND_VICTORY_POS, DELAY_TIME)
ret = robot.Movej_Cmd(joint_Victory[POS_LEFT], ARM_SPEED, 0, True) # 比耶左
ret = robot.Movej_Cmd(joint_Victory[POS_RIGHT], ARM_SPEED, 0, True) # 比耶右
counter += 1
print("已运行：", counter, "次")
# if counter == 5:
# sys.exit() # 立即停止程序，返回状态码 0