Bonjour,
Je suis actuellement sur un projet KUKA pour réaliser un étiquetage d'empilement de planche de bois.
J'ai une problématique au niveau d'une liaison pivot.
- Comprendre le programme Python pour simuler des liens simples tels qu'une rotation d'un pivot pour un vérin.
Pour l'instant, j'aimerais comprendre la programmation python pour avancer dans ma simulation.
Est-ce que je pourrais vous envoyer le scripte python que j'ai utilisé pour deux translation close et open et m'expliquer comment faire pour avoir un programme python qui gérait un open et close en degré pour le pivot.
Mon pivot doit ce déplacé de 0° à 55.98 °.
Passé une très belle journée.
Programme python :
from vcScript import *
import vcMatrix
comp = getComponent()
app = getApplication()
servo = comp.findBehaviour("Servo Controller")
## GLOBALS ##
TABNAME = "Control::"
ACTION_NAME = "Action"
REVERSED_ACTION = False
STATE_NAME = "State"
IN_PREFIX = "IN"
OUT_PREFIX = "OUT"
JOINT_IO_NAMES = {"J1":[["Open","Close"],["Open","Closed"]]} # "JointName":[["IN_ToReset","IN_ToSet"],["OUT_IsReset","OUT_IsSet"]]
JOINT_PROPS = {}
JOINT_OUTPUT_SIGNALS = {}
OUTPUT_SIGNAL_NAMES = []
INPUT_SIGNAL_NAMES = []
# LOOPS EACH JOINT
for joint_index, joint in enumerate(servo.Joints):
if joint.Name in JOINT_IO_NAMES:
# GET PROPERTIES FOR MIN AND MAX VALUES
reset_state_name, set_state_name = JOINT_IO_NAMES[joint.Name][1]
reset_val_prop = comp.getProperty(joint.Name+"_"+reset_state_name+"Value")
set_val_prop = comp.getProperty(joint.Name+"_"+set_state_name+"Value")
motion_time_prop = comp.getProperty(joint.Name+"_MotionTime")
JOINT_PROPS[joint_index] = [reset_val_prop, set_val_prop, motion_time_prop]
# GET OUTPUT SIGNALS FOR MIN AND MAX STATES
reset_state_signal_name = OUT_PREFIX+"_"+joint.Name+"_"+reset_state_name+STATE_NAME
set_state_signal_name = OUT_PREFIX+"_"+joint.Name+"_"+set_state_name+STATE_NAME
JOINT_OUTPUT_SIGNALS[joint_index] = [comp.findBehaviour(reset_state_signal_name),comp.findBehaviour(set_state_signal_name)]
OUTPUT_SIGNAL_NAMES += [reset_state_signal_name,set_state_signal_name]
# GET INPUT SIGNALS FOR ACTION, SET, RESET
reset_action_name, set_action_name = JOINT_IO_NAMES[joint.Name][0]
for name in [ACTION_NAME,reset_action_name,set_action_name]:
signal_name=IN_PREFIX+"_"+joint.Name+"_"+name
signal = comp.findBehaviour(signal_name)
if signal:
INPUT_SIGNAL_NAMES.append(signal_name)
#---------------------#
# #
# LOGIC #
# #
#---------------------#
# SET NEW SERVO TARGETS
def SetCurrentTarget():
for i in range(servo.JointCount):
servo.setJointTarget(i,servo.getJointValue(i))
def SetTarget(joint_index, joint_value = 0, motion_time = 0):
servo.setJointTarget(joint_index,joint_value)
if motion_time != 0:
servo.setMotionTime(motion_time)
def GripperAction(set_action, joint_index):
global JOINT_PROPS
suspendRun()
motion_time = 0
motion_time_prop = JOINT_PROPS[joint_index][2]
if motion_time_prop:
motion_time = motion_time_prop.Value
if set_action: #OPEN
set_val_prop = JOINT_PROPS[joint_index][1]
target = set_val_prop.Value
else: #RESET/CLOSE
reset_val_prop = JOINT_PROPS[joint_index][0]
target = reset_val_prop.Value
SetTarget(joint_index, target, motion_time)
resumeRun()
# LISTEN THE INCOMING SIGNALS
def OnSignal( signal 
global targets
joint_index = -1
for jname in JOINT_IO_NAMES:
if jname in signal.Name:
joint_name = jname
prefix, signal_name = signal.Name.split("_"+jname+"_")
joint_index = servo.Joints.index(servo.findJoint(joint_name))
break
if joint_index == -1:
return
else:
if ACTION_NAME in signal_name:
if (signal.Value and not REVERSED_ACTION) or (not signal.Value and REVERSED_ACTION):
GripperAction(True,joint_index)
else:
GripperAction(False,joint_index)
elif signal.Value:
reset_name, set_name = JOINT_IO_NAMES[joint_name][0]
if set_name in signal_name:
GripperAction(True,joint_index)
elif reset_name in signal_name:
GripperAction(False,joint_index)
# SET OUTPUT SIGNAL VALUES
def SetOutputSignals(reset = False):
global JOINT_PROPS
for joint_index, joint in enumerate(servo.Joints):
if joint.Name in JOINT_IO_NAMES:
set_val_prop = JOINT_PROPS[joint_index][0]
reset_val_prop = JOINT_PROPS[joint_index][1]
set_state_signal = JOINT_OUTPUT_SIGNALS[joint_index][0]
reset_state_signal = JOINT_OUTPUT_SIGNALS[joint_index][1]
if all([set_val_prop, reset_val_prop, set_state_signal, reset_state_signal]):
if (joint.CurrentValue == reset_val_prop.Value and not reset) or (joint.CurrentValue == reset_val_prop.Value and joint.CurrentValue == servo.getJointTarget(joint_index) and reset
reset_state_signal.signal(True)
else:
reset_state_signal.signal(False)
if (joint.CurrentValue == set_val_prop.Value and not reset) or (joint.CurrentValue == set_val_prop.Value and joint.CurrentValue == servo.getJointTarget(joint_index) and reset
set_state_signal.signal(True)
else:
set_state_signal.signal(False)
# DRIVES THE SERVO
def OnRun():
if servo:
SetCurrentTarget()
while True:
SetOutputSignals(False)
condition(lambda:[i for i in range(servo.JointCount) if (round(servo.getJointTarget(i),2) != round(servo.getJointValue(i),2))])
SetOutputSignals(True)
servo.move()
delay(0.01)
#---------------------#
# #
# AUTO I/O FUNCTIONS #
# #
#---------------------#
ROBOT_INTERFACE_NAME = "EOAT_MountInterface"
CONTROL_OPTIONS = ["IO","ExternalAxis"]
# IF AutoIOs IS ENABLED, CREATES INPUT AND OUTPUT DICTIONARIES FOR EACH SIGNAL WHICH PORT TO CONNECT
def EvaluateConnections():
inDict, outDict = {}, {}
if not autoIOs_prop:
return
elif autoIOs_prop.Value:
for prop in comp.Properties:
if prop.Name[0:len(TABNAME)] == TABNAME and prop.Name[-5:] == "_Port":
signal_name = prop.Name[len(TABNAME):-5]
if signal_name[0:len(IN_PREFIX)] == IN_PREFIX:
inDict[signal_name] = prop.Value
elif signal_name[0:len(OUT_PREFIX)] == OUT_PREFIX:
outDict[signal_name] = prop.Value
return inDict, outDict
def ConnectSignals(map, dict):
for signal_name in dict:
signal = comp.findBehaviour(signal_name)
if signal:
to_signal = dict[signal_name]
print '{}: Connecting signals to robot'.format(comp.Name)
#print '{}: Connecting signal "{}" to port {}'.format(comp.Name,signal.Name,to_signal)
map.connect(to_signal, signal)
else:
print '{}: Signal "{}" not found.'.format(comp.Name,signal_name)
# CONNECT SIGNALS WHEN GRIPPER IS CONNECTED
def onConnectEvent(otherIface, offset):
global inDict, outDict, inMap, outMap, control_prop
if autoIOs_prop:
if not autoIOs_prop.Value:
return
if control_prop:
if control_prop.Value != CONTROL_OPTIONS[0]:
return
if comp.NodeInitialized:
robotComp = otherIface.Component
if robotComp.NodeInitialized:
exes = robotComp.findBehavioursByType(VC_ROBOTEXECUTOR)
if exes:
exe = exes[0]
outMap = exe.DigitalOutputSignals
inMap = exe.DigitalInputSignals
inDict, outDict = EvaluateConnections()
ConnectSignals(inMap,outDict)
ConnectSignals(outMap,inDict)
# DISCONNECT SIGNALS WHEN GRIPPER IS DISCONNECTED
def onDisConnectEvent(otherIface):
global inMap, outMap
try:
if comp.NodeInitialized:
robotComp = otherIface.Component
if robotComp.NodeInitialized:
exes = robotComp.findBehavioursByType(VC_ROBOTEXECUTOR)
if exes:
exe = exes[0]
outMap = exe.DigitalOutputSignals
inMap = exe.DigitalInputSignals
for i in range(inMap.PortCount):
signals = inMap.getConnectedExternalSignals(i)
for signal in signals:
if signal.Name in OUTPUT_SIGNAL_NAMES:
inMap.disconnect(i)
print '{}: Disconnecting signals'.format(comp.Name)
for i in range(outMap.PortCount):
signals = outMap.getConnectedExternalSignals(i)
for signal in signals:
if signal.Name in INPUT_SIGNAL_NAMES:
outMap.disconnect(i)
print '{}: Disconnecting signals'.format(comp.Name)
except:
pass
def AutoConnectChanged(arg):
for p in comp.Properties:
if TABNAME and "_Port" in p.Name:
if arg.Value:
p.WritableWhenDisconnected = True
else:
p.WritableWhenDisconnected = False
iface = comp.findBehaviour(ROBOT_INTERFACE_NAME)
iface.OnConnect = onConnectEvent
iface.OnDisconnect = onDisConnectEvent
def OnStart():
iface.OnConnect = None
iface.OnDisconnect = None
def OnReset():
iface.OnConnect = onConnectEvent
iface.OnDisconnect = onDisConnectEvent
control_prop = comp.getProperty(TABNAME+"ControlMode")
autoIOs_prop = comp.getProperty(TABNAME+"AutoConnectIOs")
if autoIOs_prop:
autoIOs_prop.OnChanged = AutoConnectChanged
inDict, outDict = EvaluateConnections()
