def __init__(self, run_on_real=False, offset=30, acceleration=1000, speed=500):
self.offset = offset
self.robodk = robolink.Robolink() # Link with simulator
self.robot = self.robodk.Item('KUKA KR 16 2')
self.draw_frame = self.robodk.Item('Frame draw')
self.draw_tool = self.robodk.Item('Tool')
self.robot.setAcceleration(acceleration)
self.robot.setSpeed(speed)
if run_on_real:
self.connect_to_real_robot()
def runmain():
RDK = rlk.Robolink()
# Get the programs to merge
programs = list(filter(lambda item: item.Type() == rlk.ITEM_TYPE_PROGRAM, RDK.Selection()))
if len(programs) < 2:
RDK.ShowMessage('Please select at least two programs.')
return
# Create a new empty program
merged_prog = getMergedProg(programs, RDK)
# Merge programs into the new program
mergeProgs(programs, merged_prog)
def main():
# Read transformation matrices and joint angles from CSV file
frame_filename = "reference_frames.csv"
joint_filename = "joint_angles.csv"
frames = read_frames(frame_filename)
joint_angles = read_joint_angles(joint_filename)
# Specify logfile name
logfile = "output.txt"
# Initialise robot programming environment and define reference frames
RDK = rl.Robolink()
robot = RDK.Item("UR5")
world_frame = RDK.Item("UR5 Base")
home = RDK.Item("Home") # existing target in station
master_tool = RDK.Item("Master Tool")
# Set reference frames for robot
robot.setPoseFrame(world_frame)
robot.setPoseTool(master_tool)
# Initialise coffee machine and calculate inverses of required transform matrices
machine = CoffeeMachine(robot, master_tool, RDK, frames, joint_angles, logfile)
machine.frames[HOME] = home
machine.frames[TOOL + TCP] = frames[TCP + TOOL].inv()
machine.frames[BALL + TOOL] = machine.frames[TOOL + BALL].inv()
machine.frames[FILTER + TOOL] = machine.frames[TOOL + FILTER].inv()
machine.frames[PUSHER + TOOL] = machine.frames[TOOL + PUSHER].inv()
machine.frames[PULLER + TOOL] = machine.frames[TOOL + PULLER].inv()
machine.frames[CUP + TOOL] = machine.frames[TOOL + CUP].inv()
# Define constants for operation
N = 3 # amount of times leaver needs to be pulled
height = 98 # cup height above base of coffee machine
time = 12 # Duration to press coffee machine button for
scraper_height = 8 # distance from scraper to coffee filter
tamp_height = 15 # depth to push filter into tamper
# Run coffee making tasks
machine.insert_filter_grinder()
machine.turn_on_grinder()
machine.pull_lever_multiple(N)
machine.scrape_filter(scraper_height)
machine.tamp_filter(tamp_height)
machine.insert_filter_silvia()
machine.cup_from_stack()
machine.place_cup(height)
machine.turn_on_silvia(time)
machine.pickup_coffee(height)
def runmain():
RDK = rlk.Robolink()
# Get the programs to expand
programs = list(
filter(lambda item: item.Type() == rlk.ITEM_TYPE_PROGRAM,
RDK.Selection()))
if len(programs) < 1:
RDK.ShowMessage('Please select at least one program.')
return
for program in programs:
# Create a new empty program
exp_prog = getExpandedProg(program, RDK)
# Inline any sub programs into the new program
expandProg(program, exp_prog, RDK, True)
def __init__(self, rdk=None):
if rdk is None:
self.RDK = robolink.Robolink()
else:
self.RDK = rdk
self.time_last = time.time()
if len(sys.argv) > 0:
path = sys.argv[0]
folder = os.path.basename(os.path.dirname(path))
file = os.path.basename(path)
if file.endswith(".py"):
file = file[:-3]
elif file.endswith(".exe"):
file = file[:-4]
self.param_name = file + "_" + folder
self.RDK.setParam(self.param_name, "1") # makes sure we can run the file separately in debug mode
def runmain():
RDK = rlk.Robolink()
# Get the programs to convert
programs = list(
filter(lambda item: item.Type() == rlk.ITEM_TYPE_PROGRAM,
RDK.Selection()))
if len(programs) < 1:
RDK.ShowMessage('Please select at least one program.')
return
RDK.Render()
RDK.Render(False)
for program in programs:
# Create a new empty program
exp_prog = getConvertedProg(program, RDK)
# Convert any sub programs into the new program
convertProg(program, exp_prog, RDK)
RDK.Render(True)
# Define Imports.
import robolink as rl # RoboDK API
import robodk as rdk # Robot toolbox
import numpy as np # Mathematics toolbox
# Set up Robot.
RDK = rl.Robolink()
robot = RDK.Item('UR5') # Define the robot.
world_frame = RDK.Item('UR5 Base') # Define global frame as base of robot.
target = RDK.Item('Home') # Existing target in station
robot.setPoseFrame(world_frame)
robot.setPoseTool(robot.PoseTool())
T_TCP_cup_base_np = np.array([[-1.000000, 0.000000, 0.000000, 1.490000],
[0.000000, -1.000000, 0.000000, -600.540000],
[0.000000, 0.000000, 1.000000, -20.000000],
[0.000000, 0.000000, 0.000000, 1.000000]])
T_cup_base_grabberFrame_np = np.array(
[[1.000000, 0.000000, 0.000000, 0.0000],
[0.000000, 0.000000, 1.000000, 0.0000],
[0.000000, -1.000000, 0.000000, 0.000000],
[0.000000, 0.000000, 0.000000, 1.000000]])
T_cup_base_grabberFrame = rdk.Mat(T_cup_base_grabberFrame_np.tolist())
theta_TCP_CT = np.radians(40)
T_cup_angle_np = np.array(
[[np.cos(theta_TCP_CT),
np.sin(theta_TCP_CT), 0.000000, 00.000000],
[-np.sin(theta_TCP_CT),
def __init__(self):
self.rblink = robolink.Robolink()
self.simulation_speed = 1
self.refresh_rate = 0.005
