def fill_cells_random():
scope=m3t.M3Scope2(xwidth=100,yrange=None)
ns=30#5#K*2
#Build desired vector
log={'ns':ns,'type':'fill_cells_random',
'actuator':'MA12J1','L':L,'K':K,'CW':cw,'a':list(a),'b':list(b),'u_max':u_max,'u_min':u_min,'ut':[],'wt':[],'gt':[],'des':[]}
des=[u_min]
for nn in range(ns):
while True:
x=u_min+(u_max-u_min)*(random.random()) #randomly in range
if abs(des[-1]-x)>5*cw: #make excursion at least 5 cells
des.append(x)
break
log['des']=des
print 'Des',des
print 'Enable power. Hit enter to continue'
raw_input()
for ii in range(len(des)):
print ii,'Des: ',des[ii]
uu,ww,gg=ramp_to_torque(des[ii],scope)
print len(uu),len(ww),len(gg)
log['ut'].append(list(uu)) #input
log['wt'].append(list(ww)) #output
log['gt'].append(list(gg)) #hysteron states
print 'Save data [y]?'
if m3t.get_yes_no('y'):
fn=m3t.get_m3_config_path()+'data/preisach_data_random_ma12j1_'+m3t.time_string()+'.yml'
print 'Enter annotation string [None]'
note=m3t.get_string('None')
log['note']=note
f=file(fn,'w')
print 'Saving...',fn
f.write(yaml.safe_dump(log, default_flow_style=False,width=200))
f.close()
return log
def generate_joint(zlift_name=None,version=None, jid=None, pwr_name=None):
if version is None:
version=get_version(versions)
if zlift_name is None:
zlift_name=get_zlift_name()
if jid is None:
jid=get_joint_id()
if pwr_name is None:
pwr_name=get_pwr_name()
actuator_ec=copy.deepcopy(config_zlift_def[version]['actuator_ec'][jid])
actuator=copy.deepcopy(config_zlift_def[version]['actuator'][jid])
joint=copy.deepcopy(config_zlift_def[version]['joint'][jid])
name_actuator_ec='m3actuator_ec_'+zlift_name+'_j'+str(jid)
name_actuator='m3actuator_'+zlift_name+'_j'+str(jid)
name_joint='m3joint_'+zlift_name+'_j'+str(jid)
print 'Enter Serial Number of EC board for joint ','J'+str(jid),'(e.g. 300 for EC300):'
x=m3t.get_int()
actuator_ec['ethercat']['serial_number']=x
actuator_ec['name']=name_actuator_ec
actuator_ec['pwr_component']=pwr_name
actuator['name']=name_actuator
actuator['ec_component']=name_actuator_ec
actuator['joint_component']=name_joint
joint['name']=name_joint
joint['actuator_component']=name_actuator
joint['transmission']['act_name']=name_actuator
config_dir=m3t.get_m3_config_path()+zlift_name+'/'
return config_dir, [actuator_ec, actuator, joint]
def __init__(self):
try:
self.name = m3tt.get_m3_config()['sys_test']
except KeyError:
print 'Key sys_test not defined in m3_config.yml. Exiting...'
exit()
path = m3tt.get_m3_config_path()
filename = path + 'sys/m3_sys_test_' + self.name + '.yml'
try:
f = file(filename, 'r')
self.config = yaml.safe_load(f.read())
f.close()
except IOError:
print 'File ', filename, 'not found. Exiting...'
exit()
self.log = []
#load included
self.config_include = {'not_val': [], 'in_range': []}
if self.config.has_key('include'):
for fi in self.config['include']:
filename = path + 'sys/m3_sys_test_' + fi + '.yml'
try:
f = file(filename, 'r')
print 'Including: ', filename
c = yaml.safe_load(f.read())
f.close()
if c.has_key('not_val'):
self.config_include['not_val'].append(c['not_val'])
if c.has_key('in_range'):
self.config_include['in_range'].append(c['in_range'])
except IOError:
print 'File ', filename, 'not found. Exiting...'
exit()
def __init__(self):
try:
self.name=m3tt.get_m3_config()['sys_test']
except KeyError:
print 'Key sys_test not defined in m3_config.yml. Exiting...'
exit()
path=m3tt.get_m3_config_path()
filename= path+'sys/m3_sys_test_'+self.name+'.yml'
try:
f=file(filename,'r')
self.config= yaml.safe_load(f.read())
f.close()
except IOError:
print 'File ',filename,'not found. Exiting...'
exit()
self.log=[]
#load included
self.config_include={'not_val':[],'in_range':[]}
if self.config.has_key('include'):
for fi in self.config['include']:
filename= path+'sys/m3_sys_test_'+fi+'.yml'
try:
f=file(filename,'r')
print 'Including: ',filename
c= yaml.safe_load(f.read())
f.close()
if c.has_key('not_val'):
self.config_include['not_val'].append(c['not_val'])
if c.has_key('in_range'):
self.config_include['in_range'].append(c['in_range'])
except IOError:
print 'File ',filename,'not found. Exiting...'
exit()
def generate_joint(base_name=None, version=None, jid=None, pwr_name=None):
if version is None:
version = get_version(versions)
if base_name is None:
base_name = get_base_name()
if jid is None:
jid = get_joint_id()
if pwr_name is None:
pwr_name = get_pwr_name()
actuator_ec = copy.deepcopy(
config_omnibase_def[version]['actuator_ec'][jid])
actuator = copy.deepcopy(config_omnibase_def[version]['actuator'][jid])
joint = copy.deepcopy(config_omnibase_def[version]['joint'][jid])
name_actuator_ec = 'm3actuator_ec_' + base_name + '_j' + str(jid)
name_actuator = 'm3actuator_' + base_name + '_j' + str(jid)
name_joint = 'm3joint_' + base_name + '_j' + str(jid)
print 'Enter Serial Number of EC board for joint ', 'J' + str(
jid), '(e.g. 300 for EC300):'
x = m3t.get_int()
actuator_ec['ethercat']['serial_number'] = x
actuator_ec['name'] = name_actuator_ec
actuator_ec['pwr_component'] = pwr_name
actuator['name'] = name_actuator
actuator['ec_component'] = name_actuator_ec
actuator['joint_component'] = name_joint
joint['name'] = name_joint
joint['actuator_component'] = name_actuator
joint['transmission']['act_name'] = name_actuator
config_dir = m3t.get_m3_config_path() + base_name + '/'
return config_dir, [actuator_ec, actuator, joint]
def generate_zlift_full():
version=get_version(versions)
zlift_name=get_zlift_name()
pwr_name=get_pwr_name()
config_dir=m3t.get_m3_config_path()+zlift_name+'/'
data=[]
cd,x=generate_joint(zlift_name,version,0,pwr_name)
data.extend(x)
return config_dir,data
def generate_zlift_full():
version = get_version(versions)
zlift_name = get_zlift_name()
pwr_name = get_pwr_name()
config_dir = m3t.get_m3_config_path() + zlift_name + '/'
data = []
cd, x = generate_joint(zlift_name, version, 0, pwr_name)
data.extend(x)
return config_dir, data
def generate_dynamatics(head_name=None,version=None):
if version is None:
version=get_version(versions)
if head_name is None:
head_name=get_head_name()
dyn=copy.deepcopy(config_head_def[version]['dynamatics'])
dyn['chain_component']='m3head_'+head_name
dyn['name']=dyn['name'].replace('xxx',head_name)
config_dir=m3t.get_m3_config_path()+head_name+'/'
return config_dir, [dyn]
def generate_dynamatics(head_name=None, version=None):
if version is None:
version = get_version(versions)
if head_name is None:
head_name = get_head_name()
dyn = copy.deepcopy(config_head_def[version]['dynamatics'])
dyn['chain_component'] = 'm3head_' + head_name
dyn['name'] = dyn['name'].replace('xxx', head_name)
config_dir = m3t.get_m3_config_path() + head_name + '/'
return config_dir, [dyn]
def get_test_results(self):
fn=m3t.get_m3_config_path()+'data/unit_test_results_'+self.comp_rt.name+'.yml'
try:
f=file(fn,'r')
raw_data= yaml.safe_load(f.read())
f.close()
return raw_data
except (IOError, EOFError):
raw_data={}
print 'Test results file',fn,'not available'
return None
def get_raw_calibration(self):
fn=m3t.get_m3_config_path()[-1]+'data/calibration_data_raw_'+self.comp_ec.name+'.yml'
try:
f=file(fn,'r')
raw_data= yaml.safe_load(f.read())
f.close()
return raw_data
except (IOError, EOFError):
raw_data={}
print 'Raw data file',fn,'not available'
return None
def get_test_results(self):
fn = m3t.get_m3_config_path(
) + 'data/unit_test_results_' + self.comp_rt.name + '.yml'
try:
f = file(fn, 'r')
raw_data = yaml.safe_load(f.read())
f.close()
return raw_data
except (IOError, EOFError):
raw_data = {}
print 'Test results file', fn, 'not available'
return None
def generate_omnibase_full():
version=get_version(versions)
base_name=get_base_name()
pwr_name=get_pwr_name()
config_dir=m3t.get_m3_config_path()+base_name+'/'
data=[]
ndof=len(config_omnibase_def[version]['actuator'])
for jid in range(ndof):
cd,x=generate_joint(base_name,version,jid,pwr_name)
data.extend(x)
cd,x=generate_omnibase(base_name,version)
data.extend(x)
return config_dir,data
def generate_omnibase_full():
version = get_version(versions)
base_name = get_base_name()
pwr_name = get_pwr_name()
config_dir = m3t.get_m3_config_path() + base_name + '/'
data = []
ndof = len(config_omnibase_def[version]['actuator'])
for jid in range(ndof):
cd, x = generate_joint(base_name, version, jid, pwr_name)
data.extend(x)
cd, x = generate_omnibase(base_name, version)
data.extend(x)
return config_dir, data
def generate_torso(torso_name=None,version=None):
if version is None:
version=get_version(versions)
if torso_name is None:
torso_name=get_torso_name()
torso=copy.deepcopy(config_torso_def[version]['torso'])
torso['name']='m3torso_'+torso_name
torso['limb_name']='torso'
torso['dynamatics_component']=select_dynamatics(torso_name,version)
torso['joint_components']['J0']='m3joint_'+torso_name+'_j0'
torso['joint_components']['J1']='m3joint_'+torso_name+'_j1'
torso['joint_components']['J2']='m3joint_slave_'+torso_name+'_j2'
config_dir=m3t.get_m3_config_path()+torso_name+'/'
return config_dir, [torso]
def generate_dynamatics(torso_name=None,version=None):
if version is None:
version=get_version(versions)
if torso_name is None:
torso_name=get_torso_name()
dyn=copy.deepcopy(config_torso_def[version]['dynamatics'])
ret=[]
for k in dyn.keys():
d=dyn[k]
d['chain_component']='m3torso_'+torso_name
d['name']='m3dynamatics_'+k+'_'+torso_name
ret.append(d)
config_dir=m3t.get_m3_config_path()+torso_name+'/'
return config_dir, ret
def generate_hand_full():
version=get_version(versions)
hand_name=get_hand_name()
limb_name=get_limb_name(limbs)
pwr_name=get_pwr_name()
config_dir=m3t.get_m3_config_path()+hand_name+'/'
data=[]
ndof=len(config_hand_def[version]['actuator_ec'])
for jid in range(ndof):
cd,x=generate_joint(hand_name,version,jid,pwr_name)
data.extend(x)
cd,x=generate_hand(hand_name,version, limb_name)
data.extend(x)
return config_dir,data
def generate_dynamatics(torso_name=None, version=None):
if version is None:
version = get_version(versions)
if torso_name is None:
torso_name = get_torso_name()
dyn = copy.deepcopy(config_torso_def[version]['dynamatics'])
ret = []
for k in dyn.keys():
d = dyn[k]
d['chain_component'] = 'm3torso_' + torso_name
d['name'] = 'm3dynamatics_' + k + '_' + torso_name
ret.append(d)
config_dir = m3t.get_m3_config_path() + torso_name + '/'
return config_dir, ret
def generate_torso(torso_name=None, version=None):
if version is None:
version = get_version(versions)
if torso_name is None:
torso_name = get_torso_name()
torso = copy.deepcopy(config_torso_def[version]['torso'])
torso['name'] = 'm3torso_' + torso_name
torso['limb_name'] = 'torso'
torso['dynamatics_component'] = select_dynamatics(torso_name, version)
torso['joint_components']['J0'] = 'm3joint_' + torso_name + '_j0'
torso['joint_components']['J1'] = 'm3joint_' + torso_name + '_j1'
torso['joint_components']['J2'] = 'm3joint_slave_' + torso_name + '_j2'
config_dir = m3t.get_m3_config_path() + torso_name + '/'
return config_dir, [torso]
def fill_cells_random():
scope = m3t.M3Scope2(xwidth=100, yrange=None)
ns = 30 #5#K*2
#Build desired vector
log = {
'ns': ns,
'type': 'fill_cells_random',
'actuator': 'MA12J1',
'L': L,
'K': K,
'CW': cw,
'a': list(a),
'b': list(b),
'u_max': u_max,
'u_min': u_min,
'ut': [],
'wt': [],
'gt': [],
'des': []
}
des = [u_min]
for nn in range(ns):
while True:
x = u_min + (u_max - u_min) * (random.random()) #randomly in range
if abs(des[-1] - x) > 5 * cw: #make excursion at least 5 cells
des.append(x)
break
log['des'] = des
print 'Des', des
print 'Enable power. Hit enter to continue'
raw_input()
for ii in range(len(des)):
print ii, 'Des: ', des[ii]
uu, ww, gg = ramp_to_torque(des[ii], scope)
print len(uu), len(ww), len(gg)
log['ut'].append(list(uu)) #input
log['wt'].append(list(ww)) #output
log['gt'].append(list(gg)) #hysteron states
print 'Save data [y]?'
if m3t.get_yes_no('y'):
fn = m3t.get_m3_config_path(
) + 'data/preisach_data_random_ma12j1_' + m3t.time_string() + '.yml'
print 'Enter annotation string [None]'
note = m3t.get_string('None')
log['note'] = note
f = file(fn, 'w')
print 'Saving...', fn
f.write(yaml.safe_dump(log, default_flow_style=False, width=200))
f.close()
return log
def generate_head(head_name=None,version=None):
if version is None:
version=get_version(versions)
if head_name is None:
head_name=get_head_name()
head=copy.deepcopy(config_head_def[version]['head'])
head['name']='m3head_'+head_name
head['limb_name']='head'
head['dynamatics_component']=head['dynamatics_component'].replace('xxx',head_name)
#head['dynamatics_component']=select_dynamatics(head_name,version)
for jn in head['joint_components']:
head['joint_components'][jn]='m3joint_'+head_name+'_'+jn.lower()
config_dir=m3t.get_m3_config_path()+head_name+'/'
return config_dir, [head]
def generate_omnibase(base_name=None,version=None, pwr_name=None):
if version is None:
version=get_version(versions)
if base_name is None:
base_name=get_base_name()
if pwr_name is None:
pwr_name=get_pwr_name()
omnibase=copy.deepcopy(config_omnibase_def[version]['base'])
omnibase['name']='m3omnibase_'+base_name
omnibase['pwr_component']=pwr_name
ndof=len(config_omnibase_def[version]['actuator_ec'])
for jid in range(ndof):
omnibase['joint_components']['J'+str(jid)]='m3joint_'+base_name+'_j'+str(jid)
config_dir=m3t.get_m3_config_path()+base_name+'/'
return config_dir, [omnibase]
def generate_torso_full():
version=get_version(versions)
torso_name=get_torso_name()
pwr_name=get_pwr_name()
config_dir=m3t.get_m3_config_path()+torso_name+'/'
data=[]
ndof=len(config_torso_def[version]['joint'])
for jid in range(ndof):
cd,x=generate_joint(torso_name,version,jid,pwr_name)
data.extend(x)
cd,x=generate_torso(torso_name,version)
data.extend(x)
cd,x=generate_dynamatics(torso_name,version)
data.extend(x)
return config_dir,data
def generate_torso_full():
version = get_version(versions)
torso_name = get_torso_name()
pwr_name = get_pwr_name()
config_dir = m3t.get_m3_config_path() + torso_name + '/'
data = []
ndof = len(config_torso_def[version]['joint'])
for jid in range(ndof):
cd, x = generate_joint(torso_name, version, jid, pwr_name)
data.extend(x)
cd, x = generate_torso(torso_name, version)
data.extend(x)
cd, x = generate_dynamatics(torso_name, version)
data.extend(x)
return config_dir, data
def generate_hand(hand_name=None,version=None, limb_name=None):
if version is None:
version=get_version(versions)
if hand_name is None:
hand_name=get_hand_name()
if limb_name is None:
limb_name=get_limb_name(limbs)
hand=copy.deepcopy(config_hand_def[version]['hand'])
hand['name']='m3hand_'+hand_name
hand['limb_name']=limb_name
ndof=len(config_hand_def[version]['actuator_ec'])
for jid in range(ndof):
hand['joint_components']['J'+str(jid)]='m3joint_'+hand_name+'_j'+str(jid)
config_dir=m3t.get_m3_config_path()+hand_name+'/'
return config_dir, [hand]
def generate_omnibase(base_name=None, version=None, pwr_name=None):
if version is None:
version = get_version(versions)
if base_name is None:
base_name = get_base_name()
if pwr_name is None:
pwr_name = get_pwr_name()
omnibase = copy.deepcopy(config_omnibase_def[version]['base'])
omnibase['name'] = 'm3omnibase_' + base_name
omnibase['pwr_component'] = pwr_name
ndof = len(config_omnibase_def[version]['actuator_ec'])
for jid in range(ndof):
omnibase['joint_components'][
'J' + str(jid)] = 'm3joint_' + base_name + '_j' + str(jid)
config_dir = m3t.get_m3_config_path() + base_name + '/'
return config_dir, [omnibase]
def generate_head(head_name=None, version=None):
if version is None:
version = get_version(versions)
if head_name is None:
head_name = get_head_name()
head = copy.deepcopy(config_head_def[version]['head'])
head['name'] = 'm3head_' + head_name
head['limb_name'] = 'head'
head['dynamatics_component'] = head['dynamatics_component'].replace(
'xxx', head_name)
#head['dynamatics_component']=select_dynamatics(head_name,version)
for jn in head['joint_components']:
head['joint_components'][jn] = 'm3joint_' + head_name + '_' + jn.lower(
)
config_dir = m3t.get_m3_config_path() + head_name + '/'
return config_dir, [head]
def generate_arm(arm_name=None,version=None, limb_name=None):
if version is None:
version=get_version(versions)
if arm_name is None:
arm_name=get_arm_name()
if limb_name is None:
limb_name=get_limb_name(limbs)
arm=copy.deepcopy(config_arm_def[version]['arm'])
arm['name']='m3arm_'+arm_name
arm['limb_name']=limb_name
arm['dynamatics_component']=select_dynamatics(arm_name,version,limb_name)
ndof=len(config_arm_def[version]['actuator_ec'])
for jid in range(ndof):
arm['joint_components']['J'+str(jid)]='m3joint_'+arm_name+'_j'+str(jid)
config_dir=m3t.get_m3_config_path()+arm_name+'/'
return config_dir, [arm]
def generate():
ec=copy.deepcopy(config_loadx6_ec_a2r3)
rt=copy.deepcopy(config_loadx6_a2r3)
arm_name=get_arm_name()
name_ec='m3loadx6_ec_'+arm_name+'_l0'
name_rt='m3loadx6_'+arm_name+'_l0'
print 'Enter Serial Number of EC board (e.g. 300)'
x=m3t.get_int()
print 'Enter Serial Number of Loadcell (e.g. 3333 for FT333)'
y=m3t.get_int()
rt['calib']['wrench']['serial_number']
ec['ethercat']['serial_number']='FT'+str(y)
ec['name']=name_ec
rt['name']=name_rt
rt['ec_component']=name_ec
config_dir=m3t.get_m3_config_path()+arm_name+'/'
return config_dir, [ec, rt]
def write_raw_calibration(self,data):
print 'Save raw data [y]?'
if m3t.get_yes_no('y'):
fn=m3t.get_m3_config_path()[-1]+'data/calibration_data_raw_'+self.comp_ec.name+'.yml'
try:
f=file(fn,'r')
raw_data= yaml.safe_load(f.read())
f.close()
except (IOError, EOFError):
raw_data={}
pass
f=file(fn,'w')
for k in data.keys():
raw_data[k]=data[k]
print 'Saving...',fn
f.write(yaml.safe_dump(data, default_flow_style=False,width=200))
f.close()
def generate_arm(arm_name=None, version=None, limb_name=None):
if version is None:
version = get_version(versions)
if arm_name is None:
arm_name = get_arm_name()
if limb_name is None:
limb_name = get_limb_name(limbs)
arm = copy.deepcopy(config_arm_def[version]['arm'])
arm['name'] = 'm3arm_' + arm_name
arm['limb_name'] = limb_name
arm['dynamatics_component'] = select_dynamatics(arm_name, version,
limb_name)
ndof = len(config_arm_def[version]['actuator_ec'])
for jid in range(ndof):
arm['joint_components'][
'J' + str(jid)] = 'm3joint_' + arm_name + '_j' + str(jid)
config_dir = m3t.get_m3_config_path() + arm_name + '/'
return config_dir, [arm]
def set_bootloader_eeprom(boards, p3):
# Check if eeprom files are available
filename = m3t.get_m3_config_path() + "eeprom/eeprom_bld_sn_0.hex"
eepf = glob.glob(filename)
if len(eepf) != 1:
print "BLD EEPROM file not found", filename
return
else:
bld_eeprom = eepf[0]
for k in boards.keys():
cmd = "sudo ethercat -f -p " + str(boards[k]["slave_id"]) + " sii_write " + bld_eeprom
print "Executing: ", cmd
os.system(cmd)
print "Power cycle now. Hit return when ready"
raw_input()
time.sleep(4.0)
if p3:
m3rt.ethercat_bus_init(verbose=True)
list_slaves()
def set_bootloader_eeprom(boards, p3):
#Check if eeprom files are available
filename = m3t.get_m3_config_path() + 'eeprom/eeprom_bld_sn_0.hex'
eepf = glob.glob(filename)
if len(eepf) != 1:
print 'BLD EEPROM file not found', filename
return
else:
bld_eeprom = eepf[0]
for k in boards.keys():
cmd = 'sudo ethercat -f -p ' + str(
boards[k]['slave_id']) + ' sii_write ' + bld_eeprom
print 'Executing: ', cmd
os.system(cmd)
print 'Power cycle now. Hit return when ready'
raw_input()
time.sleep(4.0)
if p3:
m3rt.ethercat_bus_init(verbose=True)
list_slaves()
def generate_dynamatics(arm_name=None,version=None,limb_name=None):
if version is None:
version=get_version(versions)
if arm_name is None:
arm_name=get_arm_name()
if limb_name is None:
limb_name=get_limb_name(limbs)
dyn=copy.deepcopy(config_arm_def[version]['dynamatics'])
ret=[]
kk=dyn.keys()
if limb_name=='right_arm':
xx=[yy for yy in kk if yy.find('right')>=0]
if limb_name=='left_arm':
xx=[yy for yy in kk if yy.find('left')>=0]
for x in xx:
d=dyn[x]
d['chain_component']='m3arm_'+arm_name
d['name']='m3dynamatics_'+x+'_'+arm_name
ret.append(d)
config_dir=m3t.get_m3_config_path()+arm_name+'/'
return config_dir, ret
def generate_dynamatics(arm_name=None, version=None, limb_name=None):
if version is None:
version = get_version(versions)
if arm_name is None:
arm_name = get_arm_name()
if limb_name is None:
limb_name = get_limb_name(limbs)
dyn = copy.deepcopy(config_arm_def[version]['dynamatics'])
ret = []
kk = dyn.keys()
if limb_name == 'right_arm':
xx = [yy for yy in kk if yy.find('right') >= 0]
if limb_name == 'left_arm':
xx = [yy for yy in kk if yy.find('left') >= 0]
for x in xx:
d = dyn[x]
d['chain_component'] = 'm3arm_' + arm_name
d['name'] = 'm3dynamatics_' + x + '_' + arm_name
ret.append(d)
config_dir = m3t.get_m3_config_path() + arm_name + '/'
return config_dir, ret
def generate():
version = get_version()
if version == '0.3':
ec = copy.deepcopy(config_pwr_ec_v0_3)
rt = copy.deepcopy(config_pwr_v0_3)
if version == '0.4':
ec = copy.deepcopy(config_pwr_ec_v0_4)
rt = copy.deepcopy(config_pwr_v0_4)
if version == '0.5':
ec = copy.deepcopy(config_pwr_ec_v0_5)
rt = copy.deepcopy(config_pwr_v0_5)
print 'Enter PWR board ID (e.g., 10 for pwr010)'
x = m3t.get_int()
name_ec = 'm3pwr_ec_pwr' + '0' * (3 - len(str(x))) + str(x)
name_rt = 'm3pwr_pwr' + '0' * (3 - len(str(x))) + str(x)
print 'Enter Serial Number of EC board (e.g. 300)'
x = m3t.get_int()
ec['ethercat']['serial_number'] = x
ec['name'] = name_ec
rt['name'] = name_rt
rt['ec_component'] = name_ec
config_dir = m3t.get_m3_config_path() + 'pwr/'
return config_dir, [ec, rt]
def generate():
version=get_version()
if version=='0.3':
ec=copy.deepcopy(config_pwr_ec_v0_3)
rt=copy.deepcopy(config_pwr_v0_3)
if version=='0.4':
ec=copy.deepcopy(config_pwr_ec_v0_4)
rt=copy.deepcopy(config_pwr_v0_4)
if version=='0.5':
ec=copy.deepcopy(config_pwr_ec_v0_5)
rt=copy.deepcopy(config_pwr_v0_5)
print 'Enter PWR board ID (e.g., 10 for pwr010)'
x=m3t.get_int()
name_ec='m3pwr_ec_pwr'+'0'*(3-len(str(x)))+str(x)
name_rt='m3pwr_pwr'+'0'*(3-len(str(x)))+str(x)
print 'Enter Serial Number of EC board (e.g. 300)'
x=m3t.get_int()
ec['ethercat']['serial_number']=x
ec['name']=name_ec
rt['name']=name_rt
rt['ec_component']=name_ec
config_dir=m3t.get_m3_config_path()+'pwr/'
return config_dir, [ec, rt]
def get_boards():
print 'Finding burnable board from m3_config.yml...'
name_ec = m3t.get_ec_component_names()
boards = {}
for n in name_ec:
config = m3t.get_component_config(n)
try:
fw = config['firmware'] + '.hex'
except KeyError:
print 'Missing firmware key for', n, '...skipping'
fw = None
sn = config['ethercat']['serial_number']
try:
chid = config['chid']
except KeyError:
chid = 0
ssn = get_slave_sn()
sid = None
for s in ssn:
if sn == s[0]:
sid = s[1]
ff = m3t.get_m3_config_path() + 'eeprom/eeprom*_sn_' + str(sn) + '.hex'
eepf = glob.glob(ff)
if len(eepf) == 0:
print 'EEPROM file not found', ff, 'skipping board...'
if len(eepf) > 1:
print 'Multiple eeproms found for', ff
print 'Select correct eeprom ID'
for i in range(len(eepf)):
print i, ' : ', eepf[i]
idx = m3t.get_int()
eepf = [eepf[idx]]
if sid != None and len(eepf) == 1 and fw is not None and chid == 0:
boards[n] = {
'firmware': fw,
'sn': sn,
'slave_id': sid,
'eeprom': eepf[0],
'connected': False,
'write_success': False
}
print 'Found the following valid configurations: '
print boards.keys()
print
print 'Selection type'
print '-----------------'
print 'a: all boards'
print 's: single board'
print 'm: multiple boards'
t = raw_input()
if t != 'a' and t != 's' and t != 'm':
print 'Invalid selection'
return {}
rem = []
if t == 'm':
for k in boards.keys():
print '-----------------------'
print 'Burn ', k, 'board [y]?'
if not m3t.get_yes_no('y'):
rem.append(k)
for r in rem:
boards.pop(r)
if t == 's':
k = m3t.user_select_components_interactive(boards.keys(), single=True)
if len(k) == 0:
return {}
boards = {k[0]: boards[k[0]]}
print '-------------------------------'
print 'Burning the following boards: '
for k in boards.keys():
print k
return boards
#! /usr/bin/python
import pylab as pyl
import m3.toolbox as m3t
import m3.toolbox_ctrl as m3tc
import yaml
import glob
path= m3t.get_m3_config_path()+'data/'
files=glob.glob(path+'calibration_data_raw_m3actuator_ec_*.yml')
files.sort()
if len(files)==0:
print 'No calibration files found'
exit()
comps=[]
for f in files:
comps.append(f[f.find('calibration_data_raw')+21:len(f)-4])
print 'Enter component ID'
print '------------------'
for i in range(len(comps)):
print i,' : ',comps[i]
idd=m3t.get_int()
if idd<0 or idd>=len(comps):
print 'Invalid ID'
exit()
fn=files[idd]
print 'Display calibration file: ',fn
try:
f=file(fn,'r')
d= yaml.safe_load(f.read())
f.close()
def generate_humanoid():
robot_name=get_robot_name()
has_torso=False
has_right_arm=False
has_left_arm=False
has_head=False
print 'Torso present [y]?'
if m3t.get_yes_no('y'):
has_torso=True
torso_name=get_torso_name()
torso_version=get_version(['T2.R2','T2.R3'])
print 'Right arm present [y]?'
if m3t.get_yes_no('y'):
has_right_arm=True
print 'For right arm: ',
right_arm_name=get_arm_name()
right_arm_version=get_version(['A2.R2','A2.R3'])
print 'Left arm present [y]?'
if m3t.get_yes_no('y'):
has_left_arm=True
print 'For left arm: ',
left_arm_name=get_arm_name()
left_arm_version=get_version(['A2.R2','A2.R3'])
print 'Head present [y]?'
if m3t.get_yes_no('y'):
has_head=True
print 'For head: ',
head_name=get_head_name()
head_version='S2.R1'
pwr_name=get_pwr_name()
config_dir=m3t.get_m3_config_path()+robot_name+'/'
data=[]
#descending number of limbs
#4
if has_left_arm and has_right_arm and has_torso and has_head:
if torso_version=='T2.R3' and right_arm_version=='A2.R3' and left_arm_version=='A2.R3' and head_version=='S2.R1':
x=copy.deepcopy(config_robot_A3T3['Humanoid.A2R3-Bimanual.T2R3.S2R1'])
x['name']='m3humanoid_bimanual_torso_head_'+robot_name
x['pwr_component']=pwr_name
x['chains']['right_arm']['chain_component']='m3arm_'+right_arm_name
x['chains']['left_arm']['chain_component']='m3arm_'+left_arm_name
x['chains']['torso']['chain_component']='m3torso_'+torso_name
x['chains']['head']['chain_component']='m3head_'+head_name
data.append(x)
return config_dir,data
if torso_version=='T2.R2' and right_arm_version=='A2.R2' and left_arm_version=='A2.R2' and head_version=='S2.R1':
x=copy.deepcopy(config_robot_A2T2['Humanoid.A2R2-Bimanual.T2R2.S2R1'])
x['name']='m3humanoid_bimanual_torso_head_'+robot_name
x['pwr_component']=pwr_name
x['chains']['right_arm']['chain_component']='m3arm_'+right_arm_name
x['chains']['left_arm']['chain_component']='m3arm_'+left_arm_name
x['chains']['torso']['chain_component']='m3torso_'+torso_name
x['chains']['head']['chain_component']='m3head_'+head_name
data.append(x)
return config_dir,data
#3
if has_right_arm and has_torso and has_head:
if torso_version=='T2.R3' and right_arm_version=='A2.R3' and head_version=='S2.R1':
x=copy.deepcopy(config_robot_A3T3['Humanoid.A2R3-Right.T2R3.S2R1'])
x['name']='m3humanoid_right_arm_torso_head_'+robot_name
x['pwr_component']=pwr_name
x['chains']['right_arm']['chain_component']='m3arm_'+right_arm_name
x['chains']['torso']['chain_component']='m3torso_'+torso_name
x['chains']['head']['chain_component']='m3head_'+head_name
data.append(x)
return config_dir,data
if torso_version=='T2.R2' and right_arm_version=='A2.R2' and head_version=='S2.R1':
x=copy.deepcopy(config_robot_A2T2['Humanoid.A2R2-Right.T2R2.S2R1'])
x['name']='m3humanoid_right_arm_torso_head_'+robot_name
x['pwr_component']=pwr_name
x['chains']['right_arm']['chain_component']='m3arm_'+right_arm_name
x['chains']['torso']['chain_component']='m3torso_'+torso_name
x['chains']['head']['chain_component']='m3head_'+head_name
data.append(x)
return config_dir,data
if has_left_arm and has_right_arm and has_torso:
x=copy.deepcopy(config_robot_A3T3['Humanoid.A2R3-Bimanual.T2R3'])
x['name']='m3humanoid_bimanual_torso_'+robot_name
x['pwr_component']=pwr_name
x['chains']['right_arm']['chain_component']='m3arm_'+right_arm_name
x['chains']['left_arm']['chain_component']='m3arm_'+left_arm_name
x['chains']['torso']['chain_component']='m3torso_'+torso_name
data.append(x)
return config_dir,data
#2
if has_left_arm and has_torso:
x=copy.deepcopy(config_robot_A3T3['Humanoid.A2R3-Left.T2R3'])
x['name']='m3humanoid_left_arm_torso_'+robot_name
x['pwr_component']=pwr_name
x['chains']['torso']['chain_component']='m3torso_'+torso_name
x['chains']['left_arm']['chain_component']='m3arm_'+left_arm_name
data.append(x)
return config_dir,data
if has_right_arm and has_torso:
x=copy.deepcopy(config_robot_A3T3['Humanoid.A2R3-Right.T2R3'])
x['name']='m3humanoid_right_arm_torso_'+robot_name
x['pwr_component']=pwr_name
x['chains']['torso']['chain_component']='m3torso_'+torso_name
x['chains']['right_arm']['chain_component']='m3arm_'+right_arm_name
data.append(x)
return config_dir,data
if has_left_arm and has_right_arm:
x=copy.deepcopy(config_robot_A3T3['Humanoid.A2R3-Bimanual'])
x['name']='m3humanoid_bimanual_'+robot_name
x['pwr_component']=pwr_name
x['chains']['right_arm']['chain_component']='m3arm_'+right_arm_name
x['chains']['left_arm']['chain_component']='m3arm_'+left_arm_name
data.append(x)
return config_dir,data
#1
if has_torso:
x=copy.deepcopy(config_robot_A3T3['Humanoid.T2R3'])
x['name']='m3humanoid_torso_'+robot_name
x['pwr_component']=pwr_name
x['chains']['torso']['chain_component']='m3torso_'+torso_name
data.append(x)
return config_dir,data
if has_right_arm:
x=copy.deepcopy(config_robot_A3T3['Humanoid.A2R3-Right'])
x['name']='m3humanoid_right_arm_'+robot_name
x['pwr_component']=pwr_name
x['chains']['right_arm']['chain_component']='m3arm_'+right_arm_name
data.append(x)
return config_dir,data
if has_left_arm:
x=copy.deepcopy(config_robot_A3T3['Humanoid.A2R3-Left'])
x['name']='m3humanoid_left_arm_'+robot_name
x['pwr_component']=pwr_name
x['chains']['left_arm']['chain_component']='m3arm_'+left_arm_name
data.append(x)
return config_dir,data
if has_head:
x=copy.deepcopy(config_robot_A3T3['Humanoid.S2R1'])
x['name']='m3humanoid_head_'+robot_name
x['pwr_component']=pwr_name
x['chains']['head']['chain_component']='m3head_'+head_name
data.append(x)
return config_dir,data
def get_boards():
print "Finding burnable board from m3_config.yml..."
name_ec = m3t.get_ec_component_names()
boards = {}
for n in name_ec:
config = m3t.get_component_config(n)
try:
fw = config["firmware"] + ".hex"
except KeyError:
print "Missing firmware key for", n, "...skipping"
fw = None
sn = config["ethercat"]["serial_number"]
try:
chid = config["chid"]
except KeyError:
chid = 0
ssn = get_slave_sn()
sid = None
for s in ssn:
if sn == s[0]:
sid = s[1]
ff = m3t.get_m3_config_path() + "eeprom/eeprom*_sn_" + str(sn) + ".hex"
eepf = glob.glob(ff)
if len(eepf) == 0:
print "EEPROM file not found", ff, "skipping board..."
if len(eepf) > 1:
print "Multiple eeproms found for", ff
print "Select correct eeprom ID"
for i in range(len(eepf)):
print i, " : ", eepf[i]
idx = m3t.get_int()
eepf = [eepf[idx]]
if sid != None and len(eepf) == 1 and fw is not None and chid == 0:
boards[n] = {
"firmware": fw,
"sn": sn,
"slave_id": sid,
"eeprom": eepf[0],
"connected": False,
"write_success": False,
}
print "Found the following valid configurations: "
print boards.keys()
print
print "Selection type"
print "-----------------"
print "a: all boards"
print "s: single board"
print "m: multiple boards"
t = raw_input()
if t != "a" and t != "s" and t != "m":
print "Invalid selection"
return {}
rem = []
if t == "m":
for k in boards.keys():
print "-----------------------"
print "Burn ", k, "board [y]?"
if not m3t.get_yes_no("y"):
rem.append(k)
for r in rem:
boards.pop(r)
if t == "s":
k = m3t.user_select_components_interactive(boards.keys(), single=True)
if len(k) == 0:
return {}
boards = {k[0]: boards[k[0]]}
print "-------------------------------"
print "Burning the following boards: "
for k in boards.keys():
print k
return boards
#! /usr/bin/python
import pylab as pyl
import m3.toolbox as m3t
import m3.toolbox_ctrl as m3tc
import yaml
import glob
path = m3t.get_m3_config_path() + 'data/'
files = glob.glob(path + 'calibration_data_raw_m3actuator_ec_*.yml')
files.sort()
if len(files) == 0:
print 'No calibration files found'
exit()
comps = []
for f in files:
comps.append(f[f.find('calibration_data_raw') + 21:len(f) - 4])
print 'Enter component ID'
print '------------------'
for i in range(len(comps)):
print i, ' : ', comps[i]
idd = m3t.get_int()
if idd < 0 or idd >= len(comps):
print 'Invalid ID'
exit()
fn = files[idd]
print 'Display calibration file: ', fn
try:
f = file(fn, 'r')
d = yaml.safe_load(f.read())
f.close()