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Add ur_arm
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@luis-camero
luis-camero committed Nov 14, 2024
1 parent 78e0b38 commit 1a55b77
Showing 1 changed file with 120 additions and 12 deletions.
132 changes: 120 additions & 12 deletions clearpath_config/manipulators/types/arms.py
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Original file line number Diff line number Diff line change
Expand Up @@ -37,15 +37,19 @@ class BaseArm(BaseManipulator):
MANIPULATOR_MODEL = "base"
MANIPULATOR_TYPE = "arm"

IP_ADDRESS = "192.168.131.40"
IP_PORT = 10000
IP_ADDRESS = "ip"
IP_PORT = "port"
DEFAULT_IP_ADDRESS = "192.168.131.40"
DEFAULT_IP_PORT = 10000

URDF_PARAMETERS = {}

def __init__(
self,
idx: int = None,
name: str = None,
ip: str = IP_ADDRESS,
port: int = IP_PORT,
ip: str = DEFAULT_IP_ADDRESS,
port: int = DEFAULT_IP_PORT,
ros_parameters: dict = BaseManipulator.ROS_PARAMETERS,
ros_parameters_template: dict = BaseManipulator.ROS_PARAMETERS_TEMPLATE,
parent: str = Accessory.PARENT,
Expand All @@ -60,17 +64,19 @@ def __init__(
self.ip = IP(ip)
# IP Port
self.port = Port(port)
# URDF Parameters
self.urdf_parameters = dict(self.URDF_PARAMETERS)

@classmethod
def get_ip_from_idx(cls, idx: int) -> str:
ip = cls.IP_ADDRESS.split('.')
ip = cls.DEFAULT_IP_ADDRESS.split('.')
network_id = ip[0:3]
host_id = int(ip[-1]) + idx
return '.'.join(network_id) + '.' + str(host_id)

def set_idx(self, idx: int) -> None:
super().set_idx(idx)
if 'ip' not in self.config:
if self.IP_ADDRESS not in self.config:
self.ip = self.get_ip_from_idx(idx)
if self.gripper:
self.gripper.name = self.name + '_gripper'
Expand All @@ -94,12 +100,15 @@ def port(self, port: int) -> None:

def to_dict(self) -> dict:
d = super().to_dict()
d['ip'] = self.ip
d['port'] = self.port
d[self.IP_ADDRESS] = self.ip
d[self.IP_PORT] = self.port
if self.gripper:
d['gripper'] = self.gripper.to_dict()
else:
d['gripper'] = None
for k, v in self.urdf_parameters.items():
if v:
d[k] = v
return d

def from_dict(self, d: dict) -> None:
Expand All @@ -111,10 +120,20 @@ def from_dict(self, d: dict) -> None:
self.gripper.set_name('%s_gripper' % self.get_name())
if 'parent' not in d['gripper']:
self.gripper.set_parent('%s_end_effector_link' % self.get_name())
if 'ip' in d:
self.ip = d['ip']
if 'port' in d:
self.port = d['port']
if self.IP_ADDRESS in d:
self.ip = d[self.IP_ADDRESS]
if self.IP_PORT in d:
self.port = d[self.IP_PORT]
for k in self.urdf_parameters:
if k in d:
self.urdf_parameters[k] = d[k]

def get_urdf_parameters(self) -> dict:
d = {}
for k, v in self.urdf_parameters.items():
if v:
d[k] = v
return d


class KinovaGen3Dof6(BaseArm):
Expand All @@ -129,15 +148,104 @@ class KinovaGen3Lite(BaseArm):
MANIPULATOR_MODEL = "kinova_gen3_lite"


class UniversalRobots(BaseArm):
MANIPULATOR_MODEL = "universal_robots"

# Description Variables
UR_TYPE = 'ur_type'
INITIAL_POSITIONS = 'initial_positions'
INITIAL_POSITIONS_FILE = 'initial_positions_file'
JOINT_LIMITS_PARAMETERS_FILE = 'joint_limits_parameters_file'
KINEMATICS_PARAMETERS_FILE = 'kinematics_parameters_file'
PHYSICAL_PARAMETERS_FILE = 'physical_parameters_file'
VISUAL_PARAMETERS_FILE = 'visual_parameters_file'
SAFETY_LIMITS = 'safety_limits'
SAFETY_POS_MARGIN = 'safety_pos_margin'
SAFETY_K_POSITION = 'safety_k_position'
# Control Parameters
GENERATE_ROS2_CONTROL_TAG = 'generate_ros2_control_tag'
HEADLESS_MODE = 'headless_mode'
IP_ADDRESS = 'robot_ip'
SCRIPT_FILENAME = 'script_filename'
OUTPUT_RECIPE_FILENAME = 'output_recipe_filename'
INPUT_RECIPE_FILENAME = 'input_recipe_filename'
REVERSE_IP = 'reverse_ip'
SCRIPT_COMMAND_PORT = 'script_command_port'
REVERSE_PORT = 'reverse_port'
SCRIPT_SENDER_PORT = 'script_sender_port'
TRAJECTORY_PORT = 'trajectory_port'
TRANSMISSION_HW_INTERFACE = 'transmission_hw_interface'
NON_BLOCKING_READ = 'non_blocking_read'
KEEP_ALIVE_COUNT = 'keep_alive_count'
# Tool Communication Parameters
USE_TOOL_COMMUNICATION = 'use_tool_communication'
TOOL_VOLTAGE = 'tool_voltage'
TOOL_PARITY = 'tool_parity'
TOOL_BAUD_RATE = 'tool_baud_rate'
TOOL_STOP_BITS = 'tool_stop_bits'
TOOL_RX_IDLE_CHARS = 'tool_rx_idle_chars'
TOOL_TX_IDLE_CHARS = 'tool_tx_idle_chars'
TOOL_DEVICE_NAME = 'tool_device_name'
TOOL_TCP_PORT = 'tool_tcp_port'
# Simulation Parameters
USE_FAKE_HARDWARE = 'use_fake_hardware'
FAKE_SENSOR_COMMANDS = 'fake_sensor_commands'
SIM_GAZEBO = 'sim_gazebo'
SIM_IGNITION = 'sim_ignition'

# URDF Parameters
URDF_PARAMETERS = {
UR_TYPE: '',
INITIAL_POSITIONS: '',
INITIAL_POSITIONS_FILE: '',
JOINT_LIMITS_PARAMETERS_FILE: '',
KINEMATICS_PARAMETERS_FILE: '',
PHYSICAL_PARAMETERS_FILE: '',
VISUAL_PARAMETERS_FILE: '',
SAFETY_LIMITS: '',
SAFETY_POS_MARGIN: '',
SAFETY_K_POSITION: '',
GENERATE_ROS2_CONTROL_TAG: '',
HEADLESS_MODE: '',
IP_ADDRESS: '',
SCRIPT_FILENAME: '',
OUTPUT_RECIPE_FILENAME: '',
INPUT_RECIPE_FILENAME: '',
REVERSE_IP: '',
SCRIPT_COMMAND_PORT: '',
REVERSE_PORT: '',
SCRIPT_SENDER_PORT: '',
TRAJECTORY_PORT: '',
TRANSMISSION_HW_INTERFACE: '',
NON_BLOCKING_READ: '',
KEEP_ALIVE_COUNT: '',
USE_TOOL_COMMUNICATION: '',
TOOL_VOLTAGE: '',
TOOL_PARITY: '',
TOOL_BAUD_RATE: '',
TOOL_STOP_BITS: '',
TOOL_RX_IDLE_CHARS: '',
TOOL_TX_IDLE_CHARS: '',
TOOL_DEVICE_NAME: '',
TOOL_TCP_PORT: '',
USE_FAKE_HARDWARE: '',
FAKE_SENSOR_COMMANDS: '',
SIM_GAZEBO: '',
SIM_IGNITION: '',
}


class Arm():
KINOVA_GEN3_6DOF = KinovaGen3Dof6.MANIPULATOR_MODEL
KINOVA_GEN3_7DOF = KinovaGen3Dof7.MANIPULATOR_MODEL
KINOVA_GEN3_LITE = KinovaGen3Lite.MANIPULATOR_MODEL
UNIVERSAL_ROBOTS = UniversalRobots.MANIPULATOR_MODEL

MODEL = {
KINOVA_GEN3_6DOF: KinovaGen3Dof6,
KINOVA_GEN3_7DOF: KinovaGen3Dof7,
KINOVA_GEN3_LITE: KinovaGen3Lite,
UNIVERSAL_ROBOTS: UniversalRobots,
}

@classmethod
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