# Program automatically generated by RoboDK using the post processor for uFactory uArm robots # Run this file with Python to run the program on the robot # # Make sure the xArm Python library is installed or available in the path import sys import math sys.path.insert(0,"C:/RoboDK/Python") # Import the xArm library from xarm.wrapper import XArmAPI def print_message(arg): print(arg) def print_joints(arg1, arg2): print(arg1) def UpdateStatus(arg): pass DRIVER_VERSION = 'RoboDK Driver for xArm v1.1.4' ROBOTCOM_UNKNOWN = -1000 ROBOTCOM_CONNECTION_PROBLEMS = -3 ROBOTCOM_DISCONNECTED = -2 ROBOTCOM_NOT_CONNECTED = -1 ROBOTCOM_READY = 0 ROBOTCOM_WORKING = 1 ROBOTCOM_WAITING = 2 nDOFs_MIN = 6 class ComRobot: """Robot class for programming xArm robots""" LAST_MSG = None # Keep a copy of the last message received CONNECTED = False # Connection status is known at all times UARMAPI = None #XArmAPI("127.0.0.1") BUFFER_SIZE = None TIMEOUT = None #Speed and accelerations LINEARSPEED = 100 LINEARACELL = 30 JOINTSPEED = 50 JOINTACELL = 80 LAST_TARGET_JOINTS = [] # This is executed when the object is created def __init__(self): self.BUFFER_SIZE = 512 # bytes #self.TIMEOUT = 5 * 60 # seconds: it must be enough time for a movement to complete self.TIMEOUT = 10 # seconds # destructor def __del__(self): self.disconnect() # Disconnect from robot def disconnect(self): self.CONNECTED = False if self.UARMAPI: try: self.UARMAPI.disconnect() except OSError: return False return True # Connect to robot def connect(self, ip, port=-1): global ROBOT_MOVING self.disconnect() #print_message('Connecting to robot %s:%i' % (ip, port)) print_message(DRIVER_VERSION) print_message('Connecting to robot IP %s' % (ip)) # Create new socket connection UpdateStatus(ROBOTCOM_WORKING) try: import time self.UARMAPI = XArmAPI(ip, do_not_open=False) self.UARMAPI.motion_enable(enable=True) self.UARMAPI.clean_error() time.sleep(0.01) self.UARMAPI.set_mode(0) time.sleep(0.01) self.UARMAPI.set_state(state=0) time.sleep(0.01) self.UARMAPI.motion_enable(True) self.LAST_TARGET_JOINTS = self.UARMAPI.angles #self.UARMAPI.reset(wait=True) #self.UARMAPI.register_report_callback(self.monitoringCallback, report_cartesian=False, report_joints=True, # report_state=False, report_error_code=False, report_warn_code=False, # report_mtable=False, report_mtbrake=False, report_cmd_num=False) except Exception as e: print_message(str(e)) return False version = self.UARMAPI.version print_message("API Version:" + str(version)) self.CONNECTED = True ROBOT_MOVING = False sys.stdout.flush() return True def joints_error(self, j1, j2): if j1 is None or j2 is None: return 1e6 if type(j2) is list and type(j2[0]) is str: j2 = [float(x) for x in j2] error = -1 nj = min(len(j1), len(j2)) for i in range(nj): error = max(error, abs(j1[i] - j2[i])) return error def recv_acknowledge(self): done = False startState = self.UARMAPI.state endState = 0 while done == False: #cartesianPosition = self.UARMAPI.get_position(is_radian=False) jointPosition = self.UARMAPI.angles print_joints(jointPosition, True) #if self.joints_error(self.UARMAPI.angles,self.LAST_TARGET_JOINTS) < 4.0: # done = True curState = self.UARMAPI.state if (curState != 1) and (curState != 4): endState = curState done = True if self.UARMAPI.connected != True: return False if self.UARMAPI.has_error == True: print_message("Error code:" + str(self.UARMAPI.error_code)) self.UARMAPI.clean_error() return False if self.UARMAPI.has_warn == True: print_message("Warning code:" + str(self.UARMAPI.warn_code)) self.UARMAPI.clean_warn() return False jointPosition = self.UARMAPI.angles print_joints(jointPosition, True) return True def MoveJ(self, joints_xyzwpr): global nDOFs_MIN joints = joints_xyzwpr[:nDOFs_MIN] xyzwpr = joints_xyzwpr[nDOFs_MIN:] jointsRad = [round(x * (math.pi / 180), 6) for x in joints[:6]] + [0] # 6 DOF + 1 null try: #self.UARMAPI.set_mode(mode=1) #Mode 1 corresponds to moving this breaks it self.UARMAPI.set_state(state=0) self.UARMAPI.motion_enable(True) self.UARMAPI.set_servo_angle(angle=joints, mvacc=self.JOINTACELL, speed=self.JOINTSPEED, is_radian=False, wait=False) import time if self.UARMAPI.state == 2: time.sleep(0.01) self.LAST_TARGET_JOINTS = joints except Exception as e: print_message(str(e)) return False return True def MoveL(self, joints_xyzwpr): global nDOFs_MIN joints = joints_xyzwpr[:nDOFs_MIN] joints.insert(0, 0) xyzwpr = joints_xyzwpr[nDOFs_MIN:] try: #self.UARMAPI.set_mode(mode=1) #Mode 1 corresponds to moving self.UARMAPI.set_state(state=0) self.UARMAPI.motion_enable(True) #xArmPose = self.UARMAPI.get_forward_kinematics(tuple(joints),input_is_radian=False,return_is_radian=False)[1] self.UARMAPI.set_position_aa(axis_angle_pose=xyzwpr, mvacc=self.LINEARACELL, speed=self.LINEARSPEED, is_radian=False, wait=False) import time if self.UARMAPI.state == 2: time.sleep(0.01) self.LAST_TARGET_JOINTS = joints except Exception as e: print_message(str(e)) return False return True def MoveC(self, joints): try: self.UARMAPI.set_mode(mode=1) #Mode 1 corresponds to moving self.UARMAPI.motion_enable(True) self.UARMAPI.move_circle(pose1=joints[0:6], pose2=joints[7:], percent=50, speed=self.JOINTSPEED, mvacc=self.JOINTACELL, wait=True) self.LAST_TARGET_JOINTS = joints except Exception as e: print_message(str(e)) return False return True def getJoints(self): if (self.UARMAPI.default_is_radian == True): jointPosition = self.UARMAPI.angles for i in range(0, len(jointPosition)): jointPosition[i] = math.degrees(jointPosition[i]) else: #cartesianPosition = self.UARMAPI.get_position(is_radian=False) jointPosition = self.UARMAPI.angles return jointPosition def setSpeed(self, speed_values): # speed_values[0] = speed_values[0] # linear speed in mm/s # speed_values[1] = speed_values[1] # joint speed in mm/s # speed_values[2] = speed_values[2] # linear acceleration in mm/s2 # speed_values[3] = speed_values[3] # joint acceleration in deg/s2 if (speed_values[0] != -1): self.LINEARSPEED = speed_values[0] if (speed_values[1] != -1): self.JOINTSPEED = speed_values[1] if (speed_values[2] != -1): self.LINEARACELL = speed_values[2] if (speed_values[3] != -1): self.JOINTACELL = speed_values[3] return True def setTool(self, tool_pose): self.UARMAPI.set_tcp_offset(tool_pose) return True def Pause(self, timeMS): import time time.sleep(timeMS / 1000) return True def setRounding(self, rounding): self.UARMAPI.set_tcp_jerk(rounding) return True def setDO(self, digital_IO_State): self.UARMAPI.set_cgpio_digital_output_function(digital_IO_State[0], digital_IO_State[1]) return True def WaitDI(self, digital_IO_Num): import time start = time.time() ioNumber = digital_IO_Num[0] ioState = self.UARMAPI.get_tgpio_digital(ioNumber) desiredState = digital_IO_Num[1] try: timeout = digital_IO_Num[2] except Exception as e: e = e timeout = 0 while not (ioState == desiredState) and (time.time() - start) < timeout: ioState = self.UARMAPI.get_tgpio_digital(ioNumber) time.sleep(0.1) return True #def SendCmd(self, cmd, values=None): # """Send a command. Returns True if success, False otherwise.""" # # print('SendCmd(cmd=' + str(cmd) + ', values=' + str(values) if values else '' + ')') # # Skip the command if the robot is not connected # if not self.CONNECTED: # UpdateStatus(ROBOTCOM_NOT_CONNECTED) # return False # # if not self.send_int(cmd): # print_message("Robot connection broken") # UpdateStatus(ROBOTCOM_NOT_CONNECTED) # return False # # if values is None: # return True # elif not isinstance(values, list): # values = [values] # # if not self.send_array(values): # print_message("Robot connection broken") # UpdateStatus(ROBOTCOM_NOT_CONNECTED) # return False # # return True def ConnectRobot(): # Connect to the robot global robot ROBOT_IP = "192.168.1.156" robot = ComRobot() while not robot.connect(ROBOT_IP): print_message("Retrying connection...") import time time.sleep(0.5) print_message("Connected to robot: " + ROBOT_IP) # Program Start: RhinoProject def RhinoProject(): global robot # Generating program: RhinoProject #Program generated by RoboDK v5.6.4 for uFactory Lite6 on 02/10/2023 16:48:12 #Using nominal kinematics. robot.setRounding(1.000) robot.setSpeed([1000.0,-1,-1,-1]) #robot ref frame set to 200.000, 100.000, 100.000, -0.000, 0.000, -0.000 robot.setTool([0.000, 0.000, 50.000, -0.000, 0.000, -0.000]) #Show BRL robot.MoveJ([17.534400,47.486400,100.638000,0.000000,53.151400,-162.466000]) robot.MoveJ([17.534400,60.966500,98.129500,0.000000,37.163000,-162.466000]) #robot.MoveJ([17.534400,60.966500,98.129500,0.000000,37.163000,-162.466000,163.839, 14.958, 0.000, -180.000, -0.000, 180.000]) robot.setSpeed([50.0,-1,-1,-1]) robot.MoveJ([18.434600,62.298300,100.588000,0.000000,38.290000,-161.565000]) robot.MoveJ([19.370800,63.552600,102.905000,0.000000,39.352000,-160.629000]) robot.MoveJ([20.338300,64.715900,105.053000,0.000000,40.337200,-159.662000]) robot.MoveJ([21.332800,65.773500,107.007000,0.000000,41.233000,-158.667000]) robot.MoveJ([22.350200,66.710300,108.737000,0.000000,42.026600,-157.650000]) robot.MoveJ([23.386400,67.510800,110.216000,0.000000,42.704700,-156.614000]) robot.MoveJ([24.437700,68.160400,111.415000,0.000000,43.254900,-155.562000]) robot.MoveJ([25.500400,68.645800,112.312000,0.000000,43.666000,-154.500000]) #,166.640, 74.881, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([26.570800,68.956100,112.885000,0.000000,43.928700,-153.429000]) #,164.086, 82.088, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([27.645400,69.084000,113.121000,0.000000,44.037100,-152.355000]) #,160.921, 89.049, 0.000, 180.000, 0.000, 180.000]) robot.MoveJ([28.720700,69.026400,113.015000,0.000000,43.988300,-151.279000]) #,157.170, 95.712, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([29.793100,68.784700,112.568000,0.000000,43.783700,-150.207000]) #,152.860, 102.028, 0.000, 180.000, 0.000, 180.000]) robot.MoveJ([30.859200,68.364800,111.793000,0.000000,43.428000,-149.141000]) #,148.023, 107.950, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([31.915200,67.776200,110.706000,0.000000,42.929500,-148.085000]) #,142.694, 113.435, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([32.957600,67.031300,109.330000,0.000000,42.298500,-147.042000]) #,136.914, 118.441, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([33.982600,66.144500,107.692000,0.000000,41.547300,-146.017000]) #,130.726, 122.931, 0.000, 180.000, -0.000, -180.000]) robot.MoveJ([34.986300,65.130900,105.820000,0.000000,40.688800,-145.014000]) #,124.173, 126.873, 0.000, 180.000, 0.000, 180.000]) robot.MoveJ([35.964600,64.006100,103.742000,0.000000,39.736000,-144.035000]) #,117.307, 130.237, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([36.913200,62.784700,101.486000,0.000000,38.701800,-143.087000]) #,110.176, 132.999, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([37.827600,61.480800,99.078900,0.000000,37.598100,-142.172000]) #,102.835, 135.137, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([38.703100,60.107300,96.543700,0.000000,36.436300,-141.297000]) #,95.337, 136.636, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([39.534600,58.676300,93.903100,0.000000,35.226800,-140.465000]) #,87.738, 137.485, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([40.316700,57.198400,91.177500,0.000000,33.979000,-139.683000]) #,80.094, 137.677, 0.000, 180.000, -0.000, -180.000]) robot.MoveJ([41.043700,55.683700,88.385600,0.000000,32.701900,-138.956000]) #,72.462, 137.212, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([41.709300,54.141300,85.544800,0.000000,31.403500,-138.291000]) #,64.897, 136.092, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([42.307100,52.579500,82.671000,0.000000,30.091500,-137.693000]) #,57.458, 134.327, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([42.829900,51.006400,79.779400,0.000000,28.773100,-137.170000]) #,50.197, 131.928, 0.000, 180.000, -0.000, -180.000]) robot.MoveJ([43.270300,49.429400,76.884500,0.000000,27.455100,-136.730000]) #,43.170, 128.914, 0.000, 180.000, 0.000, 180.000]) robot.MoveJ([43.620300,47.855900,74.000100,0.000000,26.144200,-136.380000]) #,36.428, 125.307, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([43.871600,46.293200,71.140100,0.000000,24.846900,-136.128000]) #,30.020, 121.134, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([44.015200,44.748600,68.318300,0.000000,23.569800,-135.985000]) #,23.996, 116.425, 0.000, 180.000, -0.000, -180.000]) robot.MoveJ([44.042300,43.229300,65.548700,0.000000,22.319400,-135.958000]) #,18.398, 111.216, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([43.943500,41.743300,62.845700,0.000000,21.102400,-136.056000]) #,13.269, 105.545, 0.000, 180.000, 0.000, 180.000]) robot.MoveJ([43.709700,40.298500,60.224200,0.000000,19.925700,-136.290000]) #,8.646, 99.454, 0.000, 180.000, 0.000, 180.000]) robot.MoveJ([43.332200,38.903500,57.699700,0.000000,18.796300,-136.668000]) #,4.564, 92.989, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([42.802900,37.567200,55.288600,0.000000,17.721400,-137.197000]) #,1.053, 86.196, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([42.115000,36.299500,53.007900,0.000000,16.708400,-137.885000]) #,-1.861, 79.127, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([41.263700,35.110300,50.875200,0.000000,15.764900,-138.736000]) #,-4.156, 71.833, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([40.246600,34.010300,48.908800,0.000000,14.898400,-139.753000]) #,-5.817, 64.369, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([39.064900,33.010600,47.127100,0.000000,14.116600,-140.935000]) #,-6.829, 56.790, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([37.723800,32.122100,45.548700,0.000000,13.426600,-142.276000]) #,-7.186, 49.152, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([36.233300,31.355800,44.191200,0.000000,12.835400,-143.767000]) #,-6.885, 41.511, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([34.608700,30.721900,43.071300,0.000000,12.349400,-145.391000]) #,-5.928, 33.925, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([32.871000,30.229600,42.203500,0.000000,11.973800,-147.129000]) #,-4.323, 26.449, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([31.046100,29.886600,41.599800,0.000000,11.713200,-148.954000]) #,-2.081, 19.138, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([29.164100,29.698500,41.269000,0.000000,11.570500,-150.836000]) #,0.781, 12.048, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([27.258400,29.668300,41.216000,0.000000,11.547700,-152.742000]) #,4.242, 5.229, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([25.363400,29.796700,41.441600,0.000000,11.645000,-154.637000]) #,8.276, -1.266, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([23.513100,30.081400,41.942500,0.000000,11.861100,-156.487000]) #,12.854, -7.391, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([21.738900,30.517700,42.711100,0.000000,12.193400,-158.261000]) #,17.942, -13.099, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([20.068600,31.098800,43.736900,0.000000,12.638100,-159.931000]) #,23.501, -18.349, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([18.525100,31.816000,45.006000,0.000000,13.190000,-161.475000]) #,29.491, -23.102, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([17.125700,32.659300,46.502500,0.000000,13.843200,-162.874000]) #,35.867, -27.322, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([15.882600,33.618100,48.209100,0.000000,14.591000,-164.117000]) #,42.583, -30.978, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([14.802600,34.681300,50.107500,0.000000,15.426200,-165.197000]) #,49.588, -34.044, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([13.888500,35.837900,52.179200,0.000000,16.341300,-166.112000]) #,56.831, -36.496, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([13.138900,37.077000,54.405800,0.000000,17.328800,-166.861000]) #,64.257, -38.316, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([12.550100,38.388400,56.769400,0.000000,18.381100,-167.450000]) #,71.813, -39.491, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([12.115800,39.762100,59.252800,0.000000,19.490600,-167.884000]) #,79.441, -40.013, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([11.828400,41.189100,61.839300,0.000000,20.650200,-168.172000]) #,87.087, -39.876, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([11.679400,42.660400,64.513100,0.000000,21.852700,-168.321000]) #,94.692, -39.083, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([11.659700,44.168000,67.259200,0.000000,23.091200,-168.340000]) #,102.201, -37.639, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([11.760200,45.703900,70.062800,0.000000,24.358900,-168.240000]) #,109.558, -35.555, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([11.971600,47.260600,72.909900,0.000000,25.649300,-168.028000]) #,116.708, -32.846, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([12.285100,48.830800,75.786600,0.000000,26.955800,-167.715000]) #,123.599, -29.532, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([12.692100,50.407300,78.679200,0.000000,28.271900,-167.308000]) #,130.180, -25.639, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([13.184500,51.982800,81.573800,0.000000,29.591000,-166.815000]) #,136.402, -21.194, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([13.754700,53.549800,84.456000,0.000000,30.906300,-166.245000]) #,142.218, -16.230, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([14.395300,55.100500,87.311200,0.000000,32.210700,-165.605000]) #,147.587, -10.785, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([15.099700,56.626800,90.123600,0.000000,33.496800,-164.900000]) #,152.467, -4.899, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([15.861600,58.119800,92.876500,0.000000,34.756800,-164.138000]) #,156.824, 1.385, 0.000, -180.000, 0.000, -180.000]) robot.MoveJ([16.675000,59.569800,95.551700,0.000000,35.981900,-163.325000]) #,160.624, 8.021, 0.000, -180.000, -0.000, 180.000]) robot.MoveJ([17.534400,60.966500,98.129500,0.000000,37.163000,-162.466000]) #,163.839, 14.958, 0.000, -180.000, -0.000, 180.000]) robot.setSpeed([1000.0,-1,-1,-1]) robot.MoveJ([17.534400,47.486400,100.638000,0.000000,53.151400,-162.466000]) #,163.839, 14.958, 100.000, -180.000, -0.000, 180.000]) return if __name__ == "__main__": # Connect to the robot and run the program ConnectRobot() RhinoProject()