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added JF16M visualization URDF model

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This commit is contained in:
sander_m
2024-08-26 08:44:01 +02:00
parent 86fbd27e82
commit b5406ca61f
1 changed files with 62 additions and 58 deletions
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eco/endstations/bernina_robots.py
+62 -58
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@@ -7,7 +7,7 @@ from eco.elements.detector import DetectorGet
from eco.elements.adj_obj import AdjustableObject, DetectorObject
from eco.devices_general.utilities import Changer
from threading import Thread
import time
import time
import numpy as np
import os
from eco.detector.jungfrau import Jungfrau
@@ -19,7 +19,7 @@ class RobotError(Exception):
class RobotMotors(Assembly):
def __init__(
self,
self,
name = None,
robot = None,
motors = []
@@ -53,39 +53,39 @@ class StaeubliTx200(Assembly):
self._get_on_poll_info()
self._append(DetectorGet, self._get_info, cache_get_seconds =None, name='_info', is_setting=False, is_display=False)
self._append(DetectorObject, self._info, name='info', is_display='recursive', is_setting=False)
self._append(AdjustableGetSet,
self._get_config,
self._set_config,
self._append(AdjustableGetSet,
self._get_config,
self._set_config,
set_returns_changer = True,
cache_get_seconds =None,
precision=0,
check_interval=False,
name='_config',
is_setting=False,
cache_get_seconds =None,
precision=0,
check_interval=False,
name='_config',
is_setting=False,
is_display=False)
self._append(AdjustableObject, self._config, name='config',is_setting=True, is_display='recursive')
# appending pshell motors
motors_cart = [
["z_lin", "z_lin", "mm"],
["x", "x", "mm"],
["y", "y", "mm"],
["z", "z", "mm"],
["x", "x", "mm"],
["y", "y", "mm"],
["z", "z", "mm"],
["rx", "rx", "deg"],
["ry", "ry", "deg"],
["ry", "ry", "deg"],
["rz", "rz", "deg"],
]
motors_sph = [
["gamma", "gamma", "deg"],
["gamma", "gamma", "deg"],
["delta", "delta", "deg"],
["t_det", "r", "mm"],
]
motors_joint = [
["j1", "j1", "deg"],
["j2", "j2", "deg"],
["j3", "j3", "deg"],
["j4", "j4", "deg"],
["j5", "j5", "deg"],
["j1", "j1", "deg"],
["j2", "j2", "deg"],
["j3", "j3", "deg"],
["j4", "j4", "deg"],
["j5", "j5", "deg"],
["j6", "j6", "deg"],
]
self._append(RobotMotors, name= "joint", robot = self, motors = motors_joint, is_display='recursive', is_setting = True)
@@ -94,12 +94,16 @@ class StaeubliTx200(Assembly):
self._urdf = None
try:
import bernina_urdf
self._urdf = bernina_urdf.models.Tx200_Ceiling()
jf_id = None
if robot_config is not None:
jf_id = robot_config.jf_id()
self._urdf = bernina_urdf.models.Tx200_Ceiling(jf_id = robot_config.jf_id())
self._append(AdjustableFS, f'/sf/bernina/config/eco/reference_values/robot_auto_update_simulation.json', default_value=True, name="auto_update_simulation", is_setting=False, is_display=False)
self._auto_update_simulation_thread = Thread(target=self._auto_updater_simulation)
self._auto_update_simulation_thread.start()
except:
print("Loading bernina URDF robot model failed")
except Exception as e:
print("Loading bernina URDF robot model failed with:")
print(e)
### adding JF ###
if robot_config is not None:
try:
@@ -125,7 +129,7 @@ class StaeubliTx200(Assembly):
try:
if robot_config.diffcalc():
from ..utilities.recspace import Crystals
self.configuration=["robot", robot_config.goniometer()]
self.configuration=["robot", robot_config.goniometer()]
self._append(
Crystals,
diffractometer_you=self,
@@ -147,7 +151,7 @@ class StaeubliTx200(Assembly):
d= {k: v for k, v in self._cache.items() if k in self._info_fields}
d.update(self._info_fields_server)
return d
def _set_config(self, fields):
changed_item = [[k, v] for k, v in fields.items() if v != self._cache[k]]
if len(changed_item) > 1:
@@ -165,7 +169,7 @@ class StaeubliTx200(Assembly):
def _get_config(self):
return {k: v for k, v in self._cache.items() if k in self._config_fields.keys()}
def gui(self):
cmd = ["caqtdm","/sf/bernina/config/src/caqtdm/robot/robot.ui"]
return self._run_cmd(" ".join(cmd))
@@ -185,12 +189,12 @@ class StaeubliTx200(Assembly):
def move(self, check=True, wait=True, update_value_time=0.05, timeout=240, **kwargs):
"""
This method invokes a spherical, cartesian or joint motion command depending
This method invokes a spherical, cartesian or joint motion command depending
on the passed keywords.
If any of "x", "y", "z", "rx", "ry", "rz" are in the keyword arguments: cartesian motion
If any of "r", "gamma", "delta" are in the keyword arguments: spherical motion
If any of "j1" to "j6" are in the keyword arguments: joint motion
If any of "j1" to "j6" are in the keyword arguments: joint motion
"""
if self.info.server_status == "Busy":
raise RobotError(
@@ -242,7 +246,7 @@ class StaeubliTx200(Assembly):
def set_central_pixel(self, px=(None,None)):
"""
px: tuple (x,y)
This function sets the central pixel of the detector as shown in the visualization.
This function sets the central pixel of the detector as shown in the visualization.
If no argument is given, the pixel is set to the center of the detector.
"""
if px[0] is None:
@@ -272,8 +276,8 @@ class StaeubliTx200(Assembly):
def record_motion(self, **kwargs):
"""
This function is used to record trajectories, which are considered safe for remote commands.
The move has to be exectuted in manual mode and no other motion is allowed until the
move is either finished or aborted by ctrl + c. To abort the command from a different
The move has to be exectuted in manual mode and no other motion is allowed until the
move is either finished or aborted by ctrl + c. To abort the command from a different
eco session, use the function abort_record().
"""
if "t_det" in kwargs.keys():
@@ -283,7 +287,7 @@ class StaeubliTx200(Assembly):
def abort_record(self):
"""
This functions aborts any motion, which is blocking other commands
This functions aborts any motion, which is blocking other commands
such as a record_motion command executed in a different session.
"""
self.pc.eval(":abort")
@@ -304,10 +308,10 @@ class StaeubliTx200(Assembly):
"""
This method involves communication with the robot controller to interpolate
the cartesian, spherical or joint motion depending on the passed keywords.
By default with no specific keyword arguments, the stored commands on the robot
By default with no specific keyword arguments, the stored commands on the robot
controller are simulated.
If any of "x", "y", "z", "rx", "ry", "rz" are in the keyword arguments:
If any of "x", "y", "z", "rx", "ry", "rz" are in the keyword arguments:
simulate cratesian motion using the helper function _simulate_cartesian_motion --> see docstring for details
Else if any of "r", "gamma", "delta" are in the keyword arguments:
@@ -317,7 +321,7 @@ class StaeubliTx200(Assembly):
simulate joint motion using the helper function _simulate_joint_motion --> see docstring for details
coordinates = "joint":
the coordinates in which the interpolated values are returned.
the coordinates in which the interpolated values are returned.
Options are "joint" (default) or "spherical" / "cartesian"
plot = True:
@@ -334,7 +338,7 @@ class StaeubliTx200(Assembly):
return self._simulate_stored_commands()
def _simulate_stored_commands(self, plot=True):
"""
"""
Simulated stored commands on the controller.
"""
sim = np.array(self.get_eval_result(f"robot.simulate_stored_commands()"))
@@ -353,17 +357,17 @@ class StaeubliTx200(Assembly):
return sim
def _simulate_spherical_motion(self, t_det=None, gamma=None, delta=None, coordinates="joint", plot=True):
"""
Simulated motion in the spherical coordinate system using a linear moteion movel command to
change the radius from point tcp_p_spherical[0] to tcp_p_spherical[1], followed
by a circular motion along the circle given by the start point tcp_p_spherical[1],
the intermediate point tcp_p_spherical[2] and the target tcp_p_spherical[3].
simulate: True or False
coordinates: "joint" or "cartesian"
If simulate = True, an array of interpolated positions in either joint or cartesian
coordinates is returned. Setting coordinates only has an effect, when the motion is simulated.
"""
Simulated motion in the spherical coordinate system using a linear moteion movel command to
change the radius from point tcp_p_spherical[0] to tcp_p_spherical[1], followed
by a circular motion along the circle given by the start point tcp_p_spherical[1],
the intermediate point tcp_p_spherical[2] and the target tcp_p_spherical[3].
simulate: True or False
coordinates: "joint" or "cartesian"
If simulate = True, an array of interpolated positions in either joint or cartesian
coordinates is returned. Setting coordinates only has an effect, when the motion is simulated.
"""
sim = np.array(self.get_eval_result(f"robot.move_spherical(r={t_det}, gamma={gamma}, delta={delta}, simulate=True, coordinates='{coordinates}')"))
lin = np.array([self.cartesian.z_lin()]*len(sim))
@@ -403,14 +407,14 @@ class StaeubliTx200(Assembly):
def _simulate_cartesian_motion(self, x=None, y=None, z=None, rx=None, ry=None, rz=None, coordinates="joint", plot=True):
"""
"""
Simulated motion in the cartesian coordinate system using a linear motion movel command to
move from point tcp_p_spherical[0] to tcp_p_spherical[1].
coordinates: "joint" or "cartesian"
An array of interpolated positions in either joint or cartesian
coordinates is returned. Setting coordinates only has an effect, when the motion is simulated.
move from point tcp_p_spherical[0] to tcp_p_spherical[1].
coordinates: "joint" or "cartesian"
An array of interpolated positions in either joint or cartesian
coordinates is returned. Setting coordinates only has an effect, when the motion is simulated.
"""
sim = np.array(self.get_eval_result(f"robot.move_cartesian(x={x}, y={y}, z={z}, rx={rx}, ry={ry}, rz={rz}, simulate=True, coordinates='{coordinates}')"))
lin = np.array([self.cartesian.z_lin()]*11)
@@ -426,7 +430,7 @@ class StaeubliTx200(Assembly):
self.auto_update_simulation(True)
else:
return sim
def _simulate_current_pos(self):
js = np.array([self._cache["pos"][k] for k in ["z_lin", "j1", "j2", "j3", "j4", "j5", "j6"]])
if np.any([j is None for j in js]):
@@ -476,7 +480,7 @@ class StaeubliTx200(Assembly):
def _as_bool(self, s):
return True if s=='true' else False if s=='false' else None
def get_eval_result(self, cmd, update_value_time=0.05, timeout=1, background=True):
if "info" in self.__dict__.keys():
if self.info.server_status == "Busy":
@@ -496,7 +500,7 @@ class StaeubliTx200(Assembly):
elif (time.time() - t_start) > timeout:
raise RobotError(
f"evaluation timeout reached"
)
)
return val
def _set_eval_cmd(self, cmd, stopper = None, hold=False, update_value_time=0.05, timeout=120, background=True, stopper_msg = ""):