From 0485c25c6689747321121aef25ffd1a4c94d4c58 Mon Sep 17 00:00:00 2001
From: Miana <miana@mit.edu>
Date: Tue, 1 Oct 2024 11:36:46 -0400
Subject: [PATCH] updates,reversion
---
.../attiny412_spacer_v0_new_robot.ino | 228 +
.../esp32s3_xiao_assembly_grippers_only_0.ino | 335 +
.../firmware/esp32s3_xiao_assembly_wifi_0.ino | 696 +
Code/firmware/main.cpp | 657 +
Code/python/assembly_0.urdf | 272 +
Code/python/assembly_robot_IK_0.ipynb | 945 +
Code/python/assembly_simple.urdf | 189 +
Code/python/assembly_websocket_0.py | 618 +
Code/python/meshes_bille/gripper.mtl | 5 +
Code/python/meshes_bille/gripper.obj | 74414 ++++++++++++++++
.../meshes_bille/motor_module_mesh_0.obj | 35796 ++++++++
Code/python/meshes_bille/passive.obj | 37055 ++++++++
.../passive_double_stack_weld.mtl | 5 +
.../meshes_bille/visual_motor_module.mtl | 5 +
.../meshes_bille/visual_motor_module.obj | 30692 +++++++
.../visual_motor_module_meter.mtl | 5 +
.../visual_motor_module_meter.obj | 30692 +++++++
README.md | 92 +-
18 files changed, 212612 insertions(+), 89 deletions(-)
create mode 100644 Code/firmware/attiny412_spacer_v0_new_robot.ino
create mode 100644 Code/firmware/esp32s3_xiao_assembly_grippers_only_0.ino
create mode 100644 Code/firmware/esp32s3_xiao_assembly_wifi_0.ino
create mode 100644 Code/firmware/main.cpp
create mode 100644 Code/python/assembly_0.urdf
create mode 100644 Code/python/assembly_robot_IK_0.ipynb
create mode 100644 Code/python/assembly_simple.urdf
create mode 100644 Code/python/assembly_websocket_0.py
create mode 100644 Code/python/meshes_bille/gripper.mtl
create mode 100644 Code/python/meshes_bille/gripper.obj
create mode 100644 Code/python/meshes_bille/motor_module_mesh_0.obj
create mode 100644 Code/python/meshes_bille/passive.obj
create mode 100644 Code/python/meshes_bille/passive_double_stack_weld.mtl
create mode 100644 Code/python/meshes_bille/visual_motor_module.mtl
create mode 100644 Code/python/meshes_bille/visual_motor_module.obj
create mode 100644 Code/python/meshes_bille/visual_motor_module_meter.mtl
create mode 100644 Code/python/meshes_bille/visual_motor_module_meter.obj
diff --git a/Code/firmware/attiny412_spacer_v0_new_robot.ino b/Code/firmware/attiny412_spacer_v0_new_robot.ino
new file mode 100644
index 0000000..daa7783
--- /dev/null
+++ b/Code/firmware/attiny412_spacer_v0_new_robot.ino
@@ -0,0 +1,228 @@
+#include <Wire.h>
+
+#define HeatSwitch PIN_PA3 //resistive heating switch
+
+const int Addr = 12; //i2c addr
+
+float eResp = 10;
+
+const byte bufSize = 6;
+char buf[bufSize];
+
+bool attachA = false;
+
+int HeatInterval = 1000;
+
+boolean newData = false;
+const byte numChars = 32;
+char recievedChars[numChars];
+char tempChars[numChars];
+
+int boardAddress = 0;
+float desTheta = 0.0;
+char cmdType[numChars] = {0};
+
+int incomingByte = 0; // for incoming serial data
+
+//float-string converter
+union FSconverter {
+ char buffer[4];
+ float FSfloat;
+ } FSconvert;
+union FSconverter2 {
+ char buffer[4];
+ float FSfloat2;
+ } FSconvert2;
+//float-string for attach converter
+union ISconverter {
+ char buffer[4];
+ float ISint;
+} ISconvert;
+
+
+void setup()
+{
+ //i2c
+ Wire.begin(Addr); //address, use 8+
+ Wire.onReceive(receiveEvent);
+ Wire.onRequest(requestEvent);
+ //Heater
+ analogWrite(HeatSwitch, 0);
+
+ //little delay
+ delay(5);
+
+ Serial.begin(115200);
+
+ delay(5);
+
+
+}
+
+void loop()
+{
+// SerialRoutine();//check serial line
+ //check if we want to attach new module
+ if (Serial.available() > 0) {
+ // read the incoming byte:
+ incomingByte = Serial.read();
+
+ // say what you got:
+ Serial.println(incomingByte);
+// Serial.println(incomingByte, DEC);
+ if (incomingByte == 'A'){
+ HeatInterval = 30000;
+ attachA = true;
+ }
+ }
+ if (attachA == true){
+ attachActuator(HeatInterval);
+ attachA=false;
+ }
+
+}
+//void getSerialData(){
+// while (Serial.available()>0 && newData == false){
+// //uint8_t buf[1];
+// //Serial.readBytes[buf, 1];
+//
+// char B = Serial.read();
+// //Serial.println(B);
+// static boolean recvInProgress = false;
+// static byte j = 0;
+// char startMarker = '<';
+// char endMarker = '>';
+// //char rc;
+//
+// if (recvInProgress == true){
+// if (B != endMarker){
+// recievedChars[j] = B;
+// j++;
+// if (j>=numChars){
+// j=numChars-1;
+// }
+// }
+// else {
+// recievedChars[j] = '\0';
+// recvInProgress = false;
+// j = 0;
+// newData = true;
+// }
+// }
+// else if (B == startMarker){
+// recvInProgress = true;
+// }
+// }
+//}
+//
+//void parseSerialData(){
+// char * strtokIndx; // this is used by strtok() as an index
+//
+// strtokIndx = strtok(tempChars,","); // get the first part - the string
+// strcpy(cmdType, strtokIndx); // copy it to messageFromPC
+//
+// strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
+// boardAddress = atoi(strtokIndx); // convert this part to an integer
+//
+// strtokIndx = strtok(NULL, ",");
+// desTheta = atof(strtokIndx); // convert this part to a float
+//}
+//
+//void sendToI2C(){
+// char B = cmdType[0];
+// if (boardAddress==Addr){
+// //do the actions - don't send to bus.
+// if (B =='M'){
+// Serial.println("attiny no mot");
+// }
+// else if (B == 'A'){
+// HeatInterval = int(1000*desTheta);
+// attachA = true;
+// }
+// else if (B == 'E'){
+// Serial.println(Addr);
+// }
+// else{
+//
+// }
+// }
+// else{
+// Serial.println("attiny only");
+// }
+//}
+//
+//void SerialRoutine(){
+// getSerialData();
+// if (newData == true){
+// strcpy(tempChars, recievedChars);
+// parseSerialData();
+//// sendToI2C();
+// newData = false;
+// }
+//}
+
+
+void receiveEvent(int){
+ //M means update thetaDes, A means attach new actuator
+ static byte ndx=0;
+ char rc;
+
+ while (Wire.available()>0){
+ rc = Wire.read();
+ //Serial.println(rc);
+ buf[ndx] = rc;
+ ndx++;
+ if (ndx >= bufSize){
+ //prevent accidental overflow
+ ndx = bufSize - 1;
+ }
+ }
+ ndx = 0;
+ if (buf[0]=='M'){
+ // Move to new theta
+ for (int i = 1; i <= 4; i++){
+ FSconvert.buffer[i-1] = buf[i];
+ }
+
+ Serial.println("no");
+ }
+ if (buf[0]=='A'){
+ //attach new actuator
+ for (int i = 1; i <= 4; i++){
+ ISconvert.buffer[i-1] = buf[i];
+ }
+ HeatInterval = int(1000*ISconvert.ISint);
+ attachA = true;
+ }
+
+}
+
+void requestEvent(){
+ //sending status/position back
+ Wire.write(buf[0]);
+
+ //write to union
+ FSconvert2.FSfloat2 = eResp;
+ for (int i = 0; i<=3; i++){
+ Wire.write(FSconvert2.buffer[i]);
+ }
+}
+
+void attachActuator(int HeatInterval){
+ unsigned long lastIntTime = millis();
+ unsigned long intTimeNow = millis();
+ //int HeatInterval = 15000; //1000 is 1 sec.
+ //Set max limit.
+ if (HeatInterval > 40000){
+ HeatInterval = 40000;
+ }
+ Serial.println("attaching");
+ Serial.println(HeatInterval);
+ while ((intTimeNow-lastIntTime) <= HeatInterval){
+ analogWrite(HeatSwitch, 250);
+ intTimeNow = millis();
+ }
+ analogWrite(HeatSwitch,0);
+ Serial.println("done");
+
+}
diff --git a/Code/firmware/esp32s3_xiao_assembly_grippers_only_0.ino b/Code/firmware/esp32s3_xiao_assembly_grippers_only_0.ino
new file mode 100644
index 0000000..7fde591
--- /dev/null
+++ b/Code/firmware/esp32s3_xiao_assembly_grippers_only_0.ino
@@ -0,0 +1,335 @@
+
+#include <ESP32Servo.h>
+#include <Wire.h>
+// THIS IS FOR SMALL SERVO
+
+//#define POT PIN_PA6 //potentiometer
+//#define PSERVO PIN_PA7 //servo
+
+#define HeatSwitch A3 //resistive heating switch
+
+// 2 servo objects. we will use servo1 as the gripper. servo2 is the sticks
+Servo servo1;
+Servo servo2;
+//servo pins
+const int S1 = D0;
+const int S2 = D1;
+
+bool s1_init = false;
+bool s2_init = false;
+
+//
+const int Addr = 16; //i2c addr
+float myAddr = 16;
+
+float thetaDes1 = 0;
+float thetaDes2 = 0;
+
+//int curPot;
+//float curTheta;
+
+const byte bufSize = 6;
+char buf[bufSize];
+
+bool attachA = false;
+
+int HeatInterval = 1000;
+
+//bool initialized = false;
+
+const int LEDPIN = LED_BUILTIN;
+bool LEDON = false;
+
+//Serial parsing stuff.
+
+boolean newData = false;
+const byte numChars = 32;
+char recievedChars[numChars];
+char tempChars[numChars];
+
+int boardAddress = 0;
+float desTheta = 0.0;
+char cmdType[numChars] = {0};
+
+//float-string converter
+union FSconverter {
+ char buffer[4];
+ float FSfloat;
+ } FSconvert;
+union FSconverter2 {
+ char buffer[4];
+ float FSfloat2;
+ } FSconvert2;
+//float-string for attach converter
+union ISconverter {
+ char buffer[4];
+ float ISint;
+} ISconvert;
+
+
+////declare servo object
+//Servo actuator;
+
+void setup()
+{
+ //i2c
+ Wire.begin(Addr); //address, use 8+
+ Wire.onReceive(receiveEvent);
+ Wire.onRequest(requestEvent);
+
+ Serial.begin(115200);
+ Serial.println("initializing");
+ Serial.print("my addr: ");
+ Serial.println(Addr);
+ //Servo
+// actuator.attach(PSERVO);
+// //Feedback line
+// pinMode(POT, INPUT);
+ pinMode(HeatSwitch, OUTPUT);
+
+ pinMode(LEDPIN, OUTPUT);
+ digitalWrite(LEDPIN, LOW); //active low.
+// actuator.writeMicroseconds(1500);//midpoint --1500
+
+ //Heater
+ digitalWrite(HeatSwitch, 0);
+
+ //little delay
+ delay(5);
+// servo1.attach(S1);
+// servo2.attach(S2);
+
+}
+
+void loop()
+{
+ SerialRoutine();
+ //check if we want to attach new module
+ if (attachA == true){
+ attachActuator(HeatInterval);
+ attachA=false;
+ }
+// servo1.write(100);
+// servo2.write(50);
+ //Write the desired value to the servo.
+ if (s1_init){
+ servo1.writeMicroseconds(thetaToMicroseconds(thetaDes1));
+ }
+ if (s2_init){
+ servo2.writeMicroseconds(thetaToMicroseconds(thetaDes2));
+ }
+}
+
+void getSerialData(){
+ while (Serial.available()>0 && newData == false){
+ //uint8_t buf[1];
+ //Serial.readBytes[buf, 1];
+
+ char B = Serial.read();
+ //Serial.println(B);
+ static boolean recvInProgress = false;
+ static byte j = 0;
+ char startMarker = '<';
+ char endMarker = '>';
+ //char rc;
+
+ if (recvInProgress == true){
+ if (B != endMarker){
+ recievedChars[j] = B;
+ j++;
+ if (j>=numChars){
+ j=numChars-1;
+ }
+ }
+ else {
+ recievedChars[j] = '\0';
+ recvInProgress = false;
+ j = 0;
+ newData = true;
+ }
+ }
+ else if (B == startMarker){
+ recvInProgress = true;
+ }
+ }
+}
+
+void parseSerialData(){
+ char * strtokIndx; // this is used by strtok() as an index
+
+ strtokIndx = strtok(tempChars,","); // get the first part - the string
+ strcpy(cmdType, strtokIndx); // copy it to messageFromPC
+
+ strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
+ boardAddress = atoi(strtokIndx); // convert this part to an integer
+
+ strtokIndx = strtok(NULL, ",");
+ desTheta = atof(strtokIndx); // convert this part to a float
+}
+
+void sendToI2C(){
+ char B = cmdType[0];
+ if (boardAddress == Addr){
+ // do our things
+ if (B == 'G'){
+ //gripper
+ thetaDes1 = desTheta; // write the desired theta to the servo
+ Serial.println(thetaToMicroseconds(thetaDes1));
+ if (s1_init == false){
+ servo1.attach(S1); // initial servo1
+ s1_init = true;
+ Serial.println("attaching S1");
+ }
+ }
+ else if (B == 'P'){
+ //other servo
+ thetaDes2 = desTheta; // write the desired theta to the servo2
+ Serial.println(thetaToMicroseconds(thetaDes2));
+ if (s2_init == false){
+ servo2.attach(S2); // initial servo1
+ s2_init = true;
+ Serial.println("attaching S2");
+ }
+ }
+ else if (B == 'A'){
+ //attach
+ HeatInterval = int(1000*desTheta);
+ attachA = true;
+ Serial.println("A");
+ }
+ else if (B == 'E'){
+ Serial.println(Addr);
+ }
+ else{
+ Serial.println("unrec");
+ }
+ }
+ else{
+ Serial.println("not permitted");
+ }
+}
+
+void SerialRoutine(){
+ getSerialData();
+ if (newData == true){
+ strcpy(tempChars, recievedChars);
+ parseSerialData();
+ sendToI2C();
+ newData = false;
+ }
+}
+
+void receiveEvent(int){
+ //M means update thetaDes, A means attach new actuator
+ static byte ndx=0;
+ char rc;
+
+ while (Wire.available()>0){
+ rc = Wire.read();
+ //Serial.println(rc);
+ buf[ndx] = rc;
+ ndx++;
+ if (ndx >= bufSize){
+ //prevent accidental overflow
+ ndx = bufSize - 1;
+ }
+ }
+ ndx = 0;
+ Serial.println(buf[0]);
+ if (buf[0]=='G'){
+ // Move to new theta
+ for (int i = 1; i <= 4; i++){
+ FSconvert.buffer[i-1] = buf[i];
+ }
+
+ thetaDes1 = FSconvert.FSfloat;
+ //gripper
+// thetaDes1 = desTheta; // write the desired theta to the servo
+ Serial.println(thetaToMicroseconds(thetaDes1));
+ if (s1_init == false){
+ servo1.attach(S1); // initial servo1
+ s1_init = true;
+ Serial.println("attaching S1");
+ }
+// actuator.attach(PSERVO);
+// initialized = true;
+
+// Serial.println(thetaToMicroseconds(thetaDes1));
+// if (s1_init == false){
+// servo1.attach(S1); // initial servo1
+// s1_init = true;
+// Serial.println("attaching S1");
+// }
+ }
+ if (buf[0]=='P'){
+ // Move to new theta
+ for (int i = 1; i <= 4; i++){
+ FSconvert.buffer[i-1] = buf[i];
+ }
+
+ thetaDes2 = FSconvert.FSfloat;
+// actuator.attach(PSERVO);
+// initialized = true;
+//thetaDes2 = desTheta; // write the desired theta to the servo2
+ Serial.println(thetaToMicroseconds(thetaDes2));
+ if (s2_init == false){
+ servo2.attach(S2); // initial servo1
+ s2_init = true;
+ Serial.println("attaching S2");
+ }
+
+// Serial.println(thetaToMicroseconds(thetaDes2));
+// if (s2_init == false){
+// servo2.attach(S2); // initial servo2
+// s2_init = true;
+// Serial.println("attaching S2");
+// }
+ }
+
+ if (buf[0]=='A'){
+ //attach new actuator
+ for (int i = 1; i <= 4; i++){
+ ISconvert.buffer[i-1] = buf[i];
+ }
+ HeatInterval = int(1000*ISconvert.ISint);
+ attachA = true;
+ }
+
+}
+
+void requestEvent(){
+ //sending status/position back
+ Wire.write(buf[0]);
+ //write to union
+ FSconvert2.FSfloat2 = myAddr;
+ for (int i = 0; i<=3; i++){
+ Wire.write(FSconvert2.buffer[i]);
+ }
+}
+
+int thetaToMicroseconds(float thetaDes){
+ int microSec;
+// float conversionFactor = 2000/3.14159265;
+ float conversionFactor = 567.5465;
+ float offset = 608;
+ microSec = int(thetaDes * conversionFactor + offset);
+ return microSec;
+}
+
+void attachActuator(int HeatInterval){
+ unsigned long lastIntTime = millis();
+ unsigned long intTimeNow = millis();
+ //int HeatInterval = 15000; //1000 is 1 sec.
+ //Set max limit.
+ Serial.println(HeatInterval);
+ if (HeatInterval > 40000){
+ HeatInterval = 40000;
+ }
+ while ((intTimeNow-lastIntTime) <= HeatInterval){
+ digitalWrite(HeatSwitch, HIGH);
+ intTimeNow = millis();
+ }
+ digitalWrite(HeatSwitch, LOW);
+ Serial.println("done");
+
+}
diff --git a/Code/firmware/esp32s3_xiao_assembly_wifi_0.ino b/Code/firmware/esp32s3_xiao_assembly_wifi_0.ino
new file mode 100644
index 0000000..efba697
--- /dev/null
+++ b/Code/firmware/esp32s3_xiao_assembly_wifi_0.ino
@@ -0,0 +1,696 @@
+#include <WiFi.h>
+#include <WiFiMulti.h>
+
+#include <WebSocketsServer.h>
+#include <WiFiClientSecure.h>
+
+#include <Wire.h>
+
+#include "esp_wpa2.h"
+
+#include "soc/soc.h"
+#include "soc/rtc_cntl_reg.h"
+
+#include <ESP32Servo.h>
+
+#define HeatSwitch A3
+
+// 2 servo objects. we will use servo1 as the gripper. servo2 is the sticks
+Servo servo1;
+Servo servo2;
+//servo pins
+const int S1 = D0;
+const int S2 = D1;
+
+bool s1_init = false;
+bool s2_init = false;
+
+char host[] = "sz1 "; // Used for MDNS resolution -- we do not use this no?
+
+WebSocketsServer webSocket = WebSocketsServer(80);
+
+WiFiMulti wifiMulti;
+
+const int LEDPIN = LED_BUILTIN;
+bool LEDON = false;
+
+boolean newData = false;
+const byte numChars = 32;
+char recievedChars[numChars];
+char tempChars[numChars];
+
+int boardAddress = 0;
+float desTheta = 0.0;
+char cmdType[numChars] = {0};
+
+float thetaDes1 = 0.0;
+float thetaDes2 = 0.0;
+
+int myAddress = 15;
+
+char positionBytes[4] = {0};
+
+bool attachA = false;
+int HeatInterval = 1000;
+
+//const int HeatSwitch = D3;
+
+void setup()
+{
+ Wire.setClock(10000);
+ Wire.begin();
+ delay(5);
+
+ Serial.begin(115200);
+ while (!Serial)
+ ;
+ Serial.println("Initializing");
+
+ wifiMulti.addAP("bille", "731021exhaust");
+ Serial.println("Connecting WiFi...");
+ delay(100);
+ uint32_t brown_reg_temp = READ_PERI_REG(RTC_CNTL_BROWN_OUT_REG); //save WatchDog register
+ WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector
+ //192.168.1.142 <- latest address
+
+ if (wifiMulti.run() == WL_CONNECTED)
+ {
+ Serial.println("");
+ Serial.println("WiFi connected");
+ Serial.println("IP address: ");
+ Serial.println(WiFi.localIP());
+ }
+ else
+ {
+ Serial.println("");
+ Serial.println("WiFi connection failed!");
+ }
+
+
+ WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, brown_reg_temp); //enable brownout detector
+
+ // Start WebSocket server and assign callback
+ webSocket.begin();
+ webSocket.onEvent(onWebSocketEvent);
+
+ pinMode(LEDPIN, OUTPUT);
+ digitalWrite(LEDPIN, LOW); //active low?
+
+ pinMode(HeatSwitch, OUTPUT);
+ digitalWrite(HeatSwitch, LOW);
+}
+
+void loop()
+{
+ SerialRoutine();
+ // Look for and handle WebSocket data
+ webSocket.loop();
+ // servos
+ if (s1_init){
+ servo1.writeMicroseconds(thetaToMicroseconds(thetaDes1));
+ }
+ if (s2_init){
+ servo2.writeMicroseconds(thetaToMicroseconds(thetaDes2));
+ }
+ //attach?
+ if (attachA == true){
+ attachActuator(HeatInterval);
+ attachA=false;
+ }
+}
+
+void getSerialData(){
+ while (Serial.available()>0 && newData == false){
+ //uint8_t buf[1];
+ //Serial.readBytes[buf, 1];
+
+ char B = Serial.read();
+ //Serial.println(B);
+ static boolean recvInProgress = false;
+ static byte j = 0;
+ char startMarker = '<';
+ char endMarker = '>';
+ //char rc;
+
+ if (recvInProgress == true){
+ if (B != endMarker){
+ recievedChars[j] = B;
+ j++;
+ if (j>=numChars){
+ j=numChars-1;
+ }
+ }
+ else {
+ recievedChars[j] = '\0';
+ recvInProgress = false;
+ j = 0;
+ newData = true;
+ }
+ }
+ else if (B == startMarker){
+ recvInProgress = true;
+ }
+ }
+}
+
+void parseSerialData(){
+ char * strtokIndx; // this is used by strtok() as an index
+
+ strtokIndx = strtok(tempChars,","); // get the first part - the string
+ strcpy(cmdType, strtokIndx); // copy it to messageFromPC
+
+ strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
+ boardAddress = atoi(strtokIndx); // convert this part to an integer
+
+ strtokIndx = strtok(NULL, ",");
+ desTheta = atof(strtokIndx); // convert this part to a float
+}
+
+void sendToI2C(){
+ char B = cmdType[0];
+ if (boardAddress == myAddress){
+ // do our things
+ if (B == 'G'){
+ //gripper
+ thetaDes1 = desTheta; // write the desired theta to the servo
+ Serial.println(thetaToMicroseconds(thetaDes1));
+ if (s1_init == false){
+ servo1.attach(S1); // initial servo1
+ s1_init = true;
+ Serial.println("attaching S1");
+ }
+ }
+ else if (B == 'P'){
+ //other servo
+ thetaDes2 = desTheta; // write the desired theta to the servo2
+ Serial.println(thetaToMicroseconds(thetaDes2));
+ if (s2_init == false){
+ servo2.attach(S2); // initial servo1
+ s2_init = true;
+ Serial.println("attaching S2");
+ }
+ }
+ else if (B == 'A'){
+ //attach
+ HeatInterval = int(1000*desTheta);
+ attachA = true;
+ Serial.println("A");
+ }
+ else{
+ Serial.println("unrec");
+ }
+ }
+ else{
+ if (B=='M'){
+ //Move. Command M followed by float (desired angle in radians)
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+
+ Wire.beginTransmission(boardAddress);
+ Wire.write('M'); //command letter only move
+ byteTofloatW.wFloat = desTheta;
+ for (int i = 0; i <=3; i++){
+ Wire.write(byteTofloatW.buffer[i]);
+ }
+ //Wire.write(byteTofloatW.buffer);
+ Wire.endTransmission();
+ Serial.print(boardAddress);
+ Serial.print(desTheta);
+ Serial.println(B);
+
+ }
+ else if (B == 'A'){
+ //Attach. Command A followed by nonsense, attiny will attach next one.
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+ Wire.beginTransmission(boardAddress);
+ Wire.write('A'); //command letter only move
+ //Wire.write("BBBB");
+ byteTofloatW.wFloat = desTheta;
+ for (int i = 0; i <=3; i++){
+ Wire.write(byteTofloatW.buffer[i]);
+ }
+ Wire.endTransmission();
+ Serial.println(B);
+ }
+ else if (B == 'Z'){
+ //Zero. Z followed by nonsense. Attiny will execute absolute zeroing.
+ Wire.beginTransmission(boardAddress);
+ Wire.write('Z'); //command letter only move
+ Wire.write("BBBB");
+ Wire.endTransmission();
+ //Serial.println('Z');
+ Serial.println(B);
+ }
+ else if (B == 'S'){
+ //do something
+ Wire.beginTransmission(boardAddress);
+ Wire.write('S'); //command letter only move
+ Wire.write("BBBB");
+ Wire.endTransmission();
+ //LEDON = !LEDON;
+ //digitalWrite(LEDPIN, LEDON);
+ Serial.println(B);
+ }
+ else if (B == 'H'){
+ Wire.beginTransmission(boardAddress);
+ Wire.write('H');
+ Wire.write("BBBB");
+ Wire.endTransmission();
+ Serial.print(boardAddress);
+ Serial.println(B);
+ }
+ else if (B == 'E'){
+ //Request status from our single actuator at address 8
+ Serial.println(B);
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+ //Testing! request 5
+ Wire.requestFrom(boardAddress, 5);
+ char rc;
+ char rcArray[7];
+ static byte ndx = 0;
+ while (Wire.available() > 0){
+ rc = Wire.read();
+ rcArray[ndx] = rc;
+ ndx++;
+ if (ndx >= 6){
+ ndx = 5;
+ }
+ }
+ //Serial.println(ndx);
+ ndx = 0;
+ for (int i = 0; i <=3; i++){
+ byteTofloatW.buffer[i] = rcArray[i+1];
+ positionBytes[i] = rcArray[i+1];
+ }
+ //Serial.print(rcArray[0]);
+ //positionBytes = byteTofloatW.buffer;
+ Serial.println(byteTofloatW.wFloat);
+ }
+ else if (B == 'R'){
+ //Reset i2c bus???
+ Serial.println("Checking bus...");
+ int rtn = I2C_ClearBus();
+ Serial.println(rtn);
+ if (rtn == 0){
+ Wire.begin();
+ }
+ Serial.println("done");
+ }
+ else if (B == 'C'){
+ //power cycle
+ //removed!
+ Serial.println("no");
+ }
+ else if (B == 'P'){
+ // placement servo
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+
+ Wire.beginTransmission(boardAddress);
+ Wire.write('P'); //command letter only move
+ byteTofloatW.wFloat = desTheta;
+ for (int i = 0; i <=3; i++){
+ Wire.write(byteTofloatW.buffer[i]);
+ }
+ //Wire.write(byteTofloatW.buffer);
+ Wire.endTransmission();
+ Serial.print(boardAddress);
+ Serial.print(desTheta);
+ Serial.println(B);
+ }
+ else if (B == 'G'){
+ //gripper servo
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+
+ Wire.beginTransmission(boardAddress);
+ Wire.write('G'); //command letter only move
+ byteTofloatW.wFloat = desTheta;
+ for (int i = 0; i <=3; i++){
+ Wire.write(byteTofloatW.buffer[i]);
+ }
+ //Wire.write(byteTofloatW.buffer);
+ Wire.endTransmission();
+ Serial.print(boardAddress);
+ Serial.print(desTheta);
+ Serial.println(B);
+ }
+ else if (B == '\n'){
+
+ }
+ else {
+ //Serial.println("unrecognized");
+ //Serial.println(B);
+ }
+ }
+}
+
+void SerialRoutine(){
+ getSerialData();
+ if (newData == true){
+ strcpy(tempChars, recievedChars);
+ parseSerialData();
+ sendToI2C();
+ newData = false;
+ }
+}
+
+// Called when receiving any WebSocket message
+void onWebSocketEvent(uint8_t num,
+ WStype_t type,
+ uint8_t *payload,
+ size_t length)
+{
+ String output;
+
+ // Figure out the type of WebSocket event
+ switch (type)
+ {
+
+ // Client has disconnected
+ case WStype_DISCONNECTED:
+ Serial.printf("[%u] Disconnected!\n", num);
+ break;
+
+ // New client has connected
+ case WStype_CONNECTED:
+ {
+ IPAddress ip = webSocket.remoteIP(num);
+ Serial.printf("[%u] Connection from ", num);
+ Serial.println(ip.toString());
+ }
+ break;
+
+ // parse message and confirm reciept
+ case WStype_TEXT:
+ parse_payload(payload, length, num);
+ webSocket.sendTXT(4, "Recv");
+ break;
+
+ // For everything else: do nothing
+ case WStype_BIN:
+ case WStype_ERROR:
+ case WStype_FRAGMENT_TEXT_START:
+ case WStype_FRAGMENT_BIN_START:
+ case WStype_FRAGMENT:
+ case WStype_FRAGMENT_FIN:
+ default:
+ break;
+ }
+}
+
+void parse_payload(uint8_t *payload, size_t length, uint8_t num)
+{
+ Serial.printf("Received text: %s\n", payload);
+ // Commands
+ switch (payload[0])
+ {
+ case 'A':
+ {
+ cmdType[0] = 'A';
+ boardAddress = payload[1];
+ desTheta = payload[2];
+ sendToI2C();
+ } break;
+
+ case 'M':
+ {
+ cmdType[0] = 'M';
+ boardAddress = payload[1];
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+ byteTofloatW.buffer[0] = payload[2];
+ byteTofloatW.buffer[1] = payload[3];
+ byteTofloatW.buffer[2] = payload[4];
+ byteTofloatW.buffer[3] = payload[5];
+ //float desThetaScale = payload[2];
+ //desTheta = desThetaScale/100;
+ desTheta = byteTofloatW.wFloat;
+ sendToI2C();
+ } break;
+
+ case 'Z':
+ {
+ cmdType[0] = 'Z';
+ boardAddress = payload[1];
+ sendToI2C();
+ } break;
+
+ case 'H':
+ {
+ cmdType[0] = 'H';
+ boardAddress = payload[1];
+ sendToI2C();
+ } break;
+
+ case 'E':
+ {
+ cmdType[0] = 'E';
+ boardAddress = payload[1];
+ sendToI2C();
+ uint8_t * bytePtr = (uint8_t*) &positionBytes;
+ webSocket.sendBIN(num, bytePtr, sizeof(positionBytes));
+ } break;
+
+ case 'L':
+ {
+ uint8_t iters = payload[1];
+ Serial.println(payload[1]);
+ Serial.println(iters);
+ for (uint8_t i = 0; i < iters; i++){
+ digitalWrite(LEDPIN, LOW);
+ delay(500);
+ digitalWrite(LEDPIN, HIGH);
+ delay(500);
+ digitalWrite(LEDPIN, LOW);
+ delay(500);
+ }
+ digitalWrite(LEDPIN, HIGH);
+ } break;
+
+ case 'G':
+ {
+ //grab -- servo (gripper)
+ cmdType[0] = 'G';
+ boardAddress = payload[1];
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+ byteTofloatW.buffer[0] = payload[2];
+ byteTofloatW.buffer[1] = payload[3];
+ byteTofloatW.buffer[2] = payload[4];
+ byteTofloatW.buffer[3] = payload[5];
+ //float desThetaScale = payload[2];
+ //desTheta = desThetaScale/100;
+ desTheta = byteTofloatW.wFloat;
+ sendToI2C();
+ } break;
+
+ case 'P':
+ {
+ //place -- servo (prongs)
+ cmdType[0] = 'P';
+ boardAddress = payload[1];
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+ byteTofloatW.buffer[0] = payload[2];
+ byteTofloatW.buffer[1] = payload[3];
+ byteTofloatW.buffer[2] = payload[4];
+ byteTofloatW.buffer[3] = payload[5];
+ //float desThetaScale = payload[2];
+ //desTheta = desThetaScale/100;
+ desTheta = byteTofloatW.wFloat;
+ sendToI2C();
+ } break;
+
+ case 'C':
+ {
+ //tell it how many actuators to loop through
+ uint8_t numActuators = payload[2];
+ char boardAddresslist[numActuators] = {0};
+ for (int i = 0; i < numActuators; i++){
+ boardAddresslist[i] = payload[i+3]; //build list of board addresses
+ }
+
+ switch (payload[1]){
+ case 'H':
+ {
+ for (int i =0; i< numActuators; i++){
+ boardAddress = boardAddresslist[i];
+ cmdType[0] = 'H';
+ sendToI2C();
+ }
+ }break;
+
+ case 'E':
+ {
+ for (int i =0; i< numActuators; i++){
+ boardAddress = boardAddresslist[i];
+ cmdType[0] = 'E';
+ sendToI2C();
+ uint8_t * bytePtr = (uint8_t*) &positionBytes;
+ webSocket.sendBIN(num, bytePtr, sizeof(positionBytes));
+ }
+ } break;
+
+ case 'M':
+ {
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+
+ uint8_t floatListLength = (length - numActuators - 3)/4;
+
+ float floatList[floatListLength];
+
+ uint8_t count = 0;
+
+ for (int i=(numActuators+3); i < length; i++){
+ if ((i-9)%4==0){
+ //read payload values into the float converter buffer
+ byteTofloatW.buffer[0]=payload[i];
+ byteTofloatW.buffer[1]=payload[i+1];
+ byteTofloatW.buffer[2]=payload[i+2];
+ byteTofloatW.buffer[3]=payload[i+3];
+ //add float value to list
+ floatList[count] = byteTofloatW.wFloat;
+ //count up
+ count +=1;
+ }
+ else {
+ //do nothing
+ }
+ }
+ //pair desired float thetas with board addresses and send over i2c.
+ for (int i = 0; i < floatListLength; i++){
+ if (i%numActuators == 0){
+ delay(80);//was 100
+ }
+ cmdType[0] = 'M';
+ boardAddress = boardAddresslist[i%numActuators];
+ desTheta = floatList[i];
+ sendToI2C();
+ //delay(100);
+ }
+ } break;
+
+ default:
+ {
+ Serial.print("invalid char after C: ");
+ Serial.println(payload[1]);
+ } break;
+ }
+ }break;
+ default:
+ {
+ Serial.print("invalid CMD: ");
+ Serial.println(payload[0]);
+ } break;
+ }
+}
+
+int thetaToMicroseconds(float thetaDes){
+ int microSec;
+// float conversionFactor = 2000/3.14159265;
+ float conversionFactor = 567.5465;
+ float offset = 608;
+ microSec = int(thetaDes * conversionFactor + offset);
+ return microSec;
+}
+
+void attachActuator(int HeatInterval){
+ unsigned long lastIntTime = millis();
+ unsigned long intTimeNow = millis();
+ //int HeatInterval = 15000; //1000 is 1 sec.
+ //Set max limit.
+ if (HeatInterval > 40000){
+ HeatInterval = 40000;
+ }
+ Serial.println(HeatInterval);
+ while ((intTimeNow-lastIntTime) <= HeatInterval){
+ digitalWrite(HeatSwitch, HIGH);
+ intTimeNow = millis();
+ }
+// analogWrite(HeatSwitch,0);
+ digitalWrite(HeatSwitch, LOW);
+ Serial.println("done");
+
+}
+
+int I2C_ClearBus() {
+
+ pinMode(SDA, INPUT_PULLUP); // Make SDA (data) and SCL (clock) pins Inputs with pullup.
+ pinMode(SCL, INPUT_PULLUP);
+
+ delay(2500); // Wait 2.5 secs. This is strictly only necessary on the first power
+ // up of the DS3231 module to allow it to initialize properly,
+ // but is also assists in reliable programming of FioV3 boards as it gives the
+ // IDE a chance to start uploaded the program
+ // before existing sketch confuses the IDE by sending Serial data.
+
+ boolean SCL_LOW = (digitalRead(SCL) == LOW); // Check is SCL is Low.
+ if (SCL_LOW) { //If it is held low Arduno cannot become the I2C master.
+ return 1; //I2C bus error. Could not clear SCL clock line held low
+ }
+
+ boolean SDA_LOW = (digitalRead(SDA) == LOW); // vi. Check SDA input.
+ int clockCount = 20; // > 2x9 clock
+
+ while (SDA_LOW && (clockCount > 0)) { // vii. If SDA is Low,
+ clockCount--;
+ // Note: I2C bus is open collector so do NOT drive SCL or SDA high.
+ pinMode(SCL, INPUT); // release SCL pullup so that when made output it will be LOW
+ pinMode(SCL, OUTPUT); // then clock SCL Low
+ delayMicroseconds(10); // for >5us
+ pinMode(SCL, INPUT); // release SCL LOW
+ pinMode(SCL, INPUT_PULLUP); // turn on pullup resistors again
+ // do not force high as slave may be holding it low for clock stretching.
+ delayMicroseconds(10); // for >5us
+ // The >5us is so that even the slowest I2C devices are handled.
+ SCL_LOW = (digitalRead(SCL) == LOW); // Check if SCL is Low.
+ int counter = 20;
+ while (SCL_LOW && (counter > 0)) { // loop waiting for SCL to become High only wait 2sec.
+ counter--;
+ delay(100);
+ SCL_LOW = (digitalRead(SCL) == LOW);
+ }
+ if (SCL_LOW) { // still low after 2 sec error
+ return 2; // I2C bus error. Could not clear. SCL clock line held low by slave clock stretch for >2sec
+ }
+ SDA_LOW = (digitalRead(SDA) == LOW); // and check SDA input again and loop
+ }
+ if (SDA_LOW) { // still low
+ return 3; // I2C bus error. Could not clear. SDA data line held low
+ }
+
+ // else pull SDA line low for Start or Repeated Start
+ pinMode(SDA, INPUT); // remove pullup.
+ pinMode(SDA, OUTPUT); // and then make it LOW i.e. send an I2C Start or Repeated start control.
+ // When there is only one I2C master a Start or Repeat Start has the same function as a Stop and clears the bus.
+ /// A Repeat Start is a Start occurring after a Start with no intervening Stop.
+ delayMicroseconds(10); // wait >5us
+ pinMode(SDA, INPUT); // remove output low
+ pinMode(SDA, INPUT_PULLUP); // and make SDA high i.e. send I2C STOP control.
+ delayMicroseconds(10); // x. wait >5us
+ pinMode(SDA, INPUT); // and reset pins as tri-state inputs which is the default state on reset
+ pinMode(SCL, INPUT);
+ return 0; // all ok
+}
diff --git a/Code/firmware/main.cpp b/Code/firmware/main.cpp
new file mode 100644
index 0000000..fe01503
--- /dev/null
+++ b/Code/firmware/main.cpp
@@ -0,0 +1,657 @@
+#include "Arduino.h"
+#include <Wire.h>
+#include <SimpleFOC.h>
+#include <Math.h>
+#include "SimpleFOCDrivers.h"
+#include "drivers/drv8316/drv8316.h"
+#include "encoders/as5047/MagneticSensorAS5047.h"
+#include <Adafruit_NeoPixel.h>
+
+#define NSLEEP 19
+#define NFAULT 18
+#define DRVOFF 0
+#define VREF 14
+#define DRIVER_CS 5
+
+#define SENSOR_CS 4
+
+#define HEATER 1 //"tx" aka PB16 aka 1
+
+#define USB_P 0
+
+bool MAS = 1; // is i2c master?
+
+// BUILT in NEOPIXEl
+#define NEOPIXEL_PIN 8
+#define NEOPIXEL_COUNT 1
+Adafruit_NeoPixel builtinNeopixel(NEOPIXEL_COUNT, NEOPIXEL_PIN, NEO_GRB + NEO_KHZ800);
+
+MagneticSensorSPIConfig_s AS5047 = {
+ .spi_mode = SPI_MODE1,
+ .clock_speed = 4000000,
+ .bit_resolution = 14,
+ .angle_register = 0x3FFF,
+ .data_start_bit = 13,
+ .command_rw_bit = 14,
+ .command_parity_bit = 15
+};
+MagneticSensorAS5047 sensor(SENSOR_CS, false, SPISettings(4000000, BitOrder::MSBFIRST, SPI_MODE1));
+
+
+// BLDCMotor motor = BLDCMotor(11, 3, 150);
+BLDCMotor motor = BLDCMotor(11);
+
+DRV8316Driver3PWM driver = DRV8316Driver3PWM(13,11,9,DRIVER_CS,false);
+// driver.setPWMMode(PWM3_Mode);
+
+#define ENABLE_A 12
+#define ENABLE_B 10
+#define ENABLE_C 6
+
+//target variable
+float target_velocity = 1;
+float target_angle = 0;
+
+//offset
+float zero_offset = 0.0;
+
+// instantiate the commander
+Commander command = Commander(Serial);
+void doTarget(char* cmd) { command.scalar(&target_velocity, cmd); }
+void doLimit(char* cmd) { command.scalar(&motor.voltage_limit, cmd); }
+void doMotor(char* cmd){ command.motor(&motor, cmd); }
+// void doTarget(char* cmd) { command.scalar(&target_angle, cmd); }
+
+// serial-i2c stuff
+boolean newData = false;
+const byte numChars = 32;
+char recievedChars[numChars];
+char tempChars[numChars];
+
+int boardAddress = 0;
+float desTheta = 0.0;
+char cmdType[numChars] = {0};
+
+//ADDRESS!!
+int myAddress = 24;
+//HERE!!!
+
+char positionBytes[4] = {0};
+
+const byte bufSize = 6;
+char buf[bufSize];
+
+bool attachA = false;
+int HeatInterval = 1000;
+
+float curTheta = 0.0;
+
+//float-string converter
+union FSconverter {
+ char buffer[4];
+ float FSfloat;
+ } FSconvert;
+union FSconverter2 {
+ char buffer[4];
+ float FSfloat2;
+ } FSconvert2;
+//float-string for attach converter
+union ISconverter {
+ char buffer[4];
+ float ISint;
+} ISconvert;
+
+
+void printDRV8316Status();
+void printSensorStatus();
+void getSerialData();
+void parseSerialData();
+void sendToI2C();
+void SerialRoutine();
+void requestEvent();
+void receiveEvent(int);
+void attachActuator(int HeatInterval);
+
+void setup() {
+ delay(1000);
+ Serial.println("Start");
+ pinMode(NSLEEP, OUTPUT);
+ digitalWrite(NSLEEP, HIGH);
+
+ pinMode(NFAULT, INPUT_PULLUP);
+
+ pinMode(DRVOFF, OUTPUT);
+ digitalWrite(DRVOFF, LOW);
+
+ pinMode(VREF, OUTPUT);
+ digitalWrite(VREF, HIGH);
+
+ // enables for 3PWM mode
+ pinMode(ENABLE_A, OUTPUT);
+ digitalWrite(ENABLE_A, 1); // enable
+ pinMode(ENABLE_B, OUTPUT);
+ digitalWrite(ENABLE_B, 1); // enable
+ pinMode(ENABLE_C, OUTPUT);
+ digitalWrite(ENABLE_C, 1); // enable
+
+ // i2C
+ // Wire.setClock(10000);
+ // Wire.begin(); // master - just for testing on the feather.
+ //else:
+ Wire.begin(myAddress);
+ Wire.onReceive(receiveEvent);
+ Wire.onRequest(requestEvent);
+ delay(5);
+
+ sensor.init();
+ motor.linkSensor(&sensor);
+
+ // driver config
+
+ driver.voltage_power_supply = 18;
+ driver.voltage_limit = 18;
+
+ // limit the maximal dc voltage the driver can set
+ // as a protection measure for the low-resistance motors
+ // this value is fixed on startup
+ driver.init();
+
+ // link the motor and the driver
+ motor.linkDriver(&driver);
+
+ motor.voltage_limit = 18; // [V]
+
+ // motor.controller = MotionControlType::velocity_openloop;
+
+ motor.foc_modulation = FOCModulationType::SinePWM;
+ motor.controller = MotionControlType::angle;
+
+ motor.PID_velocity.P = 0.2;
+ motor.PID_velocity.I = 20;
+ motor.PID_velocity.D = 0.001;
+ motor.LPF_velocity.Tf = 0.015;
+
+ motor.P_angle.P = 20;
+
+ motor.current_limit = 7;
+ motor.velocity_limit = 10;
+
+ // motor.voltage_limit = 5;
+
+ // init motor hardware
+ motor.init();
+
+ // // add target command T
+ // command.add('T', doTarget, "target velocity");
+ // command.add('L', doLimit, "voltage limit");
+
+ Serial.begin(115200);
+ Serial.println("Motor ready!");
+ // Serial.println("Set target velocity [rad/s]");
+ _delay(1000);
+ // DRV8316_PWMMode val = driver.getPWMMode();
+ // Serial.print("PWM Mode: ");
+ // Serial.println(val);
+ // delay(100);
+ printDRV8316Status();
+ printSensorStatus();
+ // delay(100);
+ Serial.println(digitalRead(NFAULT));
+
+ motor.initFOC();
+
+ // set the inital target value
+ motor.target = target_angle - zero_offset;
+
+ // define the motor id
+ command.add('M', doMotor, "motor");
+ // add target command T
+ command.add('T', doTarget, "target angle");
+
+
+ motor.monitor_start_char = 'M'; // the same latter as the motor id in the commander
+ motor.monitor_end_char = 'M'; // the same latter as the motor id in the commander
+
+ command.verbose = VerboseMode::machine_readable;
+
+ builtinNeopixel.begin();
+ builtinNeopixel.setPixelColor(0, 50, 50, 50);
+ builtinNeopixel.show();
+ // //heater
+ // pinMode(HEATER, OUTPUT);
+ // analogWrite(HEATER, 0);
+ //heater
+ pinMode(HEATER, INPUT); // tbh there's something wrong with the analog write situation. we'll try just toggling the pinmode type.
+ // digitalWrite(HEATER, 0);
+ sensor.update();
+ target_angle = sensor.getAngle();
+
+}
+
+void loop() {
+
+ SerialRoutine();
+ // sensor.update();
+ motor.loopFOC();
+ motor.move(target_angle);
+ motor.monitor();
+ // Serial.print(sensor.getCurrentAngle());
+ // Serial.print(", ");
+ // Serial.println(sensor.getAngle());
+ // pinMode(HEATER, OUTPUT);
+ // digitalWrite(HEATER, LOW);
+ // command.run(); // won't use their commander
+ // printDRV8316Status();
+ // delay(1000);
+ if (attachA == true){
+ Serial.println("attaching");
+ Serial.println(HeatInterval);
+ pinMode(HEATER, OUTPUT);
+ attachActuator(HeatInterval);
+ attachA=false;
+ // pinMode(HEATER, INPUT);
+ }
+ //If errors:
+ if (digitalRead(NFAULT)==0){
+ printDRV8316Status();
+ Serial.println(digitalRead(NFAULT));
+ digitalWrite(NSLEEP, HIGH);
+ digitalWrite(DRVOFF, LOW);
+ }
+
+ // // iterative setting FOC phase voltage
+ // motor.loopFOC();
+ // // iterative function setting the outter loop target
+ // // velocity, position or voltage
+ // // if tatget not set in parameter uses motor.target variable
+ // // motor.move();
+ // motor.move(target_angle);
+ // motor.monitor();
+ // user communication
+ // command.run();
+
+}
+
+void getSerialData(){
+ while (Serial.available()>0 && newData == false){
+ //uint8_t buf[1];
+ //Serial.readBytes[buf, 1];
+
+ char B = Serial.read();
+ //Serial.println(B);
+ static boolean recvInProgress = false;
+ static byte j = 0;
+ char startMarker = '<';
+ char endMarker = '>';
+ //char rc;
+
+ if (recvInProgress == true){
+ if (B != endMarker){
+ recievedChars[j] = B;
+ j++;
+ if (j>=numChars){
+ j=numChars-1;
+ }
+ }
+ else {
+ recievedChars[j] = '\0';
+ recvInProgress = false;
+ j = 0;
+ newData = true;
+ }
+ }
+ else if (B == startMarker){
+ recvInProgress = true;
+ }
+ }
+}
+
+void parseSerialData(){
+ char * strtokIndx; // this is used by strtok() as an index
+
+ strtokIndx = strtok(tempChars,","); // get the first part - the string
+ strcpy(cmdType, strtokIndx); // copy it to messageFromPC
+
+ strtokIndx = strtok(NULL, ","); // this continues where the previous call left off
+ boardAddress = atoi(strtokIndx); // convert this part to an integer
+
+ strtokIndx = strtok(NULL, ",");
+ desTheta = atof(strtokIndx); // convert this part to a float
+}
+
+void sendToI2C(){
+ char B = cmdType[0];
+ if (boardAddress==myAddress){
+ //do the actions - don't send to bus.
+ if (B =='M'){
+ target_angle = desTheta;
+ }
+ else if (B == 'A'){
+ HeatInterval = int(1000*desTheta);
+ attachA = true;
+ }
+ else if (B == 'E'){
+ sensor.update();
+ Serial.println(sensor.getAngle());
+ Serial.println(sensor.getCurrentAngle());
+ }
+ else if (B == 'D'){
+ printSensorStatus();
+ }
+ }
+ else if (MAS == 1){
+ // if we are master device then send to bus.
+ if (B=='M'){
+ //Move. Command M followed by float (desired angle in radians)
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+
+ Wire.beginTransmission(boardAddress);
+ Wire.write('M'); //command letter only move
+ byteTofloatW.wFloat = desTheta;
+ for (int i = 0; i <=3; i++){
+ Wire.write(byteTofloatW.buffer[i]);
+ }
+ //Wire.write(byteTofloatW.buffer);
+ Wire.endTransmission();
+ Serial.print(boardAddress);
+ Serial.print(desTheta);
+ Serial.println(B);
+
+ }
+ if (B=='G'){
+ //Move. Command M followed by float (desired angle in radians)
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+
+ Wire.beginTransmission(boardAddress);
+ Wire.write('G'); //command letter only move
+ byteTofloatW.wFloat = desTheta;
+ for (int i = 0; i <=3; i++){
+ Wire.write(byteTofloatW.buffer[i]);
+ }
+ //Wire.write(byteTofloatW.buffer);
+ Wire.endTransmission();
+ Serial.print(boardAddress);
+ Serial.print(desTheta);
+ Serial.println(B);
+
+ }
+ if (B=='P'){
+ //Move. Command M followed by float (desired angle in radians)
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+
+ Wire.beginTransmission(boardAddress);
+ Wire.write('P'); //command letter only move
+ byteTofloatW.wFloat = desTheta;
+ for (int i = 0; i <=3; i++){
+ Wire.write(byteTofloatW.buffer[i]);
+ }
+ //Wire.write(byteTofloatW.buffer);
+ Wire.endTransmission();
+ Serial.print(boardAddress);
+ Serial.print(desTheta);
+ Serial.println(B);
+
+ }
+ else if (B == 'A'){
+ //Attach. Command A followed by nonsense, attiny will attach next one.
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+ Wire.beginTransmission(boardAddress);
+ Wire.write('A'); //command letter only move
+ //Wire.write("BBBB");
+ byteTofloatW.wFloat = desTheta;
+ for (int i = 0; i <=3; i++){
+ Wire.write(byteTofloatW.buffer[i]);
+ }
+ Wire.endTransmission();
+ Serial.println(B);
+ }
+ else if (B == 'Z'){
+ //Zero. Z followed by nonsense. Attiny will execute absolute zeroing.
+ Wire.beginTransmission(boardAddress);
+ Wire.write('Z'); //command letter only move
+ Wire.write("BBBB");
+ Wire.endTransmission();
+ //Serial.println('Z');
+ Serial.println(B);
+ }
+ else if (B == 'S'){
+ //do something
+ Wire.beginTransmission(boardAddress);
+ Wire.write('S'); //command letter only move
+ Wire.write("BBBB");
+ Wire.endTransmission();
+ //LEDON = !LEDON;
+ //digitalWrite(LEDPIN, LEDON);
+ Serial.println(B);
+ }
+ else if (B == 'H'){
+ Wire.beginTransmission(boardAddress);
+ Wire.write('H');
+ Wire.write("BBBB");
+ Wire.endTransmission();
+ Serial.print(boardAddress);
+ Serial.println(B);
+ }
+ else if (B == 'E'){
+ //Request status from our single actuator at address 8
+ Serial.println(B);
+ union byteTofloat {
+ char buffer[4];
+ float wFloat;
+ } byteTofloatW;
+ //Testing! request 5
+ Wire.requestFrom(boardAddress, 5);
+ char rc;
+ char rcArray[7];
+ static byte ndx = 0;
+ while (Wire.available() > 0){
+ rc = Wire.read();
+ rcArray[ndx] = rc;
+ ndx++;
+ if (ndx >= 6){
+ ndx = 5;
+ }
+ }
+ //Serial.println(ndx);
+ ndx = 0;
+ for (int i = 0; i <=3; i++){
+ byteTofloatW.buffer[i] = rcArray[i+1];
+ positionBytes[i] = rcArray[i+1];
+ }
+ //Serial.print(rcArray[0]);
+ //positionBytes = byteTofloatW.buffer;
+ Serial.println(byteTofloatW.wFloat);
+ }
+ else if (B == '\n'){
+
+ }
+ else {
+ //Serial.println("unrecognized");
+ //Serial.println(B);
+ }
+ }
+ else{
+ Serial.println("Parsing error");
+ }
+}
+
+void SerialRoutine(){
+ getSerialData();
+ if (newData == true){
+ strcpy(tempChars, recievedChars);
+ parseSerialData();
+ sendToI2C();
+ newData = false;
+ }
+}
+
+void receiveEvent(int){
+ //M means update thetaDes, A means attach new actuator
+ static byte ndx=0;
+ char rc;
+
+ while (Wire.available()>0){
+ rc = Wire.read();
+ //Serial.println(rc);
+ buf[ndx] = rc;
+ ndx++;
+ if (ndx >= bufSize){
+ //prevent accidental overflow
+ ndx = bufSize - 1;
+ }
+ }
+ ndx = 0;
+ if (buf[0]=='M'){
+ // Move to new theta
+ for (int i = 1; i <= 4; i++){
+ FSconvert.buffer[i-1] = buf[i];
+ }
+
+ target_angle = FSconvert.FSfloat;
+// actuator.attach(PSERVO);
+// initialized = true;
+
+ }
+ if (buf[0]=='A'){
+ //attach new actuator
+ for (int i = 1; i <= 4; i++){
+ ISconvert.buffer[i-1] = buf[i];
+ }
+ HeatInterval = int(1000*ISconvert.ISint);
+ attachA = true;
+ }
+
+}
+
+void requestEvent(){
+ //sending status/position back
+ Wire.write(buf[0]);
+ //
+ curTheta = sensor.getAngle();
+ //write to union
+ FSconvert2.FSfloat2 = curTheta;
+ for (int i = 0; i<=3; i++){
+ Wire.write(FSconvert2.buffer[i]);
+ }
+}
+
+void attachActuator(int HeatInterval){
+ pinMode(HEATER, OUTPUT);
+ unsigned long lastIntTime = millis();
+ unsigned long intTimeNow = millis();
+ //int HeatInterval = 15000; //1000 is 1 sec.
+ //Set max limit.
+ if (HeatInterval > 80000){
+ HeatInterval = 80000;
+ }
+ while ((intTimeNow-lastIntTime) <= HeatInterval){
+ // analogWrite(HEATER, 210);// 10V ish, 2.5 A ?
+ digitalWrite(HEATER, HIGH);
+ intTimeNow = millis();
+ }
+ Serial.println("done");
+ // analogWrite(HEATER,0);
+ digitalWrite(HEATER, LOW);
+ pinMode(HEATER, INPUT);
+
+}
+
+void printSensorStatus()
+{
+ AS5047Diagnostics diag = sensor.readDiagnostics();
+ Serial.println(F("AS5047 Status:"));
+ Serial.print(F("Error: "));
+ Serial.println(sensor.isErrorFlag());
+ Serial.print(F("COF: "));
+ Serial.println(diag.cof);
+ float currentAngle = sensor.getCurrentAngle();
+ Serial.print(F("Angle: "));
+ Serial.println(currentAngle);
+ uint16_t magnitude = sensor.readMagnitude();
+ Serial.print(F("Magnitude: "));
+ Serial.println(magnitude);
+ Serial.print(F("Error: "));
+ Serial.println(sensor.isErrorFlag());
+ if (sensor.isErrorFlag())
+ {
+ AS5047Error err = sensor.clearErrorFlag();
+ Serial.print(F("Command invalid: "));
+ Serial.println(err.commandInvalid);
+ Serial.print(F("Framing error: "));
+ Serial.println(err.framingError);
+ Serial.print(F("Parity error: "));
+ Serial.println(err.parityError);
+ }
+ Serial.println();
+}
+
+void printDRV8316Status() {
+ DRV8316Status status = driver.getStatus();
+ Serial.println("DRV8316 Status:");
+ Serial.print("Fault: ");
+ Serial.println(status.isFault());
+ Serial.print("Buck Error: ");
+ Serial.print(status.isBuckError());
+ Serial.print(" Undervoltage: ");
+ Serial.print(status.isBuckUnderVoltage());
+ Serial.print(" OverCurrent: ");
+ Serial.println(status.isBuckOverCurrent());
+ Serial.print("Charge Pump UnderVoltage: ");
+ Serial.println(status.isChargePumpUnderVoltage());
+ Serial.print("OTP Error: ");
+ Serial.println(status.isOneTimeProgrammingError());
+ Serial.print("OverCurrent: ");
+ Serial.print(status.isOverCurrent());
+ Serial.print(" Ah: ");
+ Serial.print(status.isOverCurrent_Ah());
+ Serial.print(" Al: ");
+ Serial.print(status.isOverCurrent_Al());
+ Serial.print(" Bh: ");
+ Serial.print(status.isOverCurrent_Bh());
+ Serial.print(" Bl: ");
+ Serial.print(status.isOverCurrent_Bl());
+ Serial.print(" Ch: ");
+ Serial.print(status.isOverCurrent_Ch());
+ Serial.print(" Cl: ");
+ Serial.println(status.isOverCurrent_Cl());
+ Serial.print("OverTemperature: ");
+ Serial.print(status.isOverTemperature());
+ Serial.print(" Shutdown: ");
+ Serial.print(status.isOverTemperatureShutdown());
+ Serial.print(" Warning: ");
+ Serial.println(status.isOverTemperatureWarning());
+ Serial.print("OverVoltage: ");
+ Serial.println(status.isOverVoltage());
+ Serial.print("PowerOnReset: ");
+ Serial.println(status.isPowerOnReset());
+ Serial.print("SPI Error: ");
+ Serial.print(status.isSPIError());
+ Serial.print(" Address: ");
+ Serial.print(status.isSPIAddressError());
+ Serial.print(" Clock: ");
+ Serial.print(status.isSPIClockFramingError());
+ Serial.print(" Parity: ");
+ Serial.println(status.isSPIParityError());
+ if (status.isFault())
+ driver.clearFault();
+ delayMicroseconds(2); // ensure 400ns delay
+ DRV8316_PWMMode val = driver.getPWMMode();
+ Serial.print("PWM Mode: ");
+ Serial.println(val);
+ delayMicroseconds(2); // ensure 400ns delay
+ bool lock = driver.isRegistersLocked();
+ Serial.print("Lock: ");
+ Serial.println(lock);
+}
diff --git a/Code/python/assembly_0.urdf b/Code/python/assembly_0.urdf
new file mode 100644
index 0000000..164eb96
--- /dev/null
+++ b/Code/python/assembly_0.urdf
@@ -0,0 +1,272 @@
+<?xml version="1.0" ?>
+<robot name="bille">
+ <link name="link1">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 0 0" xyz="0 0 0.15"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <!-- <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.15"/>
+ <geometry>
+ <cylinder length="0.300" radius="0.05"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual> -->
+ <visual>
+ <origin rpy="0 0 0" xyz="-0.0375 -0.0375 0.05"/>
+ <geometry>
+ <mesh filename="meshes_bille/gripper.obj"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ <visual>
+ <origin rpy="0 0 0" xyz="-0.0375 -0.0375 0.15"/>
+ <geometry>
+ <mesh filename="meshes_bille/visual_motor_module_meter.obj"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ <!-- <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="1.0" radius="0.05"/>
+ </geometry>
+ </collision> -->
+ </link>
+
+ <link name="link2">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 1.57 0" xyz="0.05 0 0"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <!-- <visual>
+ <origin rpy="0 1.57 0" xyz="0.05 0 0"/>
+ <geometry>
+ <cylinder length="0.200" radius="0.05"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual> -->
+
+ <visual>
+ <origin rpy="0 -1.57 3.141" xyz="0 0.0375 -0.0375"/>
+ <geometry>
+ <mesh filename="meshes_bille/visual_motor_module_meter.obj"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+
+ </link>
+
+ <joint name="joint1" type="revolute">
+ <parent link="link1"/>
+ <child link="link2"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0 0 0.25"/>
+ <dynamics damping="0.1"/>
+ </joint>
+
+ <transmission type="SimpleTransmission" name="transmission1">
+ <actuator name="motor1"/>
+ <joint name="joint1"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission>
+
+ <link name="link3">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 0 0" xyz="0.1 0 0.1"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <!-- <visual>
+ <origin rpy="0 0 0" xyz="0.1 0 0.1"/>
+ <geometry>
+ <cylinder length="0.300" radius="0.05"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual> -->
+ <visual>
+ <origin rpy="0 0 3.141" xyz="0.1375 0.0375 0.1"/>
+ <geometry>
+ <mesh filename="meshes_bille/passive.obj"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ <visual>
+ <origin rpy="0 -1.57 0" xyz="0.1 -0.0375 0.165"/>
+ <geometry>
+ <mesh filename="meshes_bille/visual_motor_module_meter.obj"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint2" type="revolute">
+ <parent link="link2"/>
+ <child link="link3"/>
+ <axis xyz="1 0 0"/>
+ <origin xyz="0 0 0"/>
+ <dynamics damping="0.1"/>
+ </joint>
+
+ <transmission type="SimpleTransmission" name="transmission2">
+ <actuator name="motor2"/>
+ <joint name="joint2"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission>
+
+
+ <link name="link4">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 0 0" xyz="0 0 0.1"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <!-- <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.1"/>
+ <geometry>
+ <cylinder length="0.300" radius="0.050"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual> -->
+ <visual>
+ <origin rpy="0 0 0" xyz="-0.0375 -0.0375 0.1"/>
+ <geometry>
+ <mesh filename="meshes_bille/passive.obj"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ <visual>
+ <origin rpy="0 -1.57 3.141" xyz="0.0 0.0375 0.165"/>
+ <geometry>
+ <mesh filename="meshes_bille/visual_motor_module_meter.obj"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint3" type="revolute">
+ <parent link="link3"/>
+ <child link="link4"/>
+ <axis xyz="1 0 0"/>
+ <origin xyz="0 0 0.2"/>
+ <dynamics damping="0.1"/>
+ </joint>
+
+ <transmission type="SimpleTransmission" name="transmission3">
+ <actuator name="motor3"/>
+ <joint name="joint3"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission>
+
+ <link name="link5">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 1.57 0" xyz="0.05 0 0"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <!-- <visual>
+ <origin rpy="0 1.57 0" xyz="0.05 0 0"/>
+ <geometry>
+ <cylinder length="0.200" radius="0.05"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual> -->
+ <visual>
+ <origin rpy="0 0 0" xyz="0.065 -0.0375 0"/>
+ <geometry>
+ <mesh filename="meshes_bille/visual_motor_module_meter.obj"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint4" type="revolute">
+ <parent link="link4"/>
+ <child link="link5"/>
+ <axis xyz="1 0 0"/>
+ <origin xyz="0.0 0 0.2"/>
+ <dynamics damping="0.1"/>
+ </joint>
+
+ <transmission type="SimpleTransmission" name="transmission4">
+ <actuator name="motor4"/>
+ <joint name="joint4"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission>
+
+ <link name="link6">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 0 0" xyz="0 0 0.1"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <!-- <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.1"/>
+ <geometry>
+ <cylinder length="0.10" radius="0.050"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual> -->
+ <visual>
+ <origin rpy="3.141 0 0" xyz="-0.0375 0.0375 0.1"/>
+ <geometry>
+ <mesh filename="meshes_bille/gripper.obj"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint5" type="revolute">
+ <parent link="link5"/>
+ <child link="link6"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0.1 0 0"/>
+ <dynamics damping="0.1"/>
+ </joint>
+
+ <transmission type="SimpleTransmission" name="transmission5">
+ <actuator name="motor5"/>
+ <joint name="joint5"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission>
+
+ <!-- <transmission type="SimpleTransmission" name="shoulder_trans">
+ <actuator name="Shoulder"/>
+ <joint name="ShoulderJoint"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission> -->
+
+</robot>
+
diff --git a/Code/python/assembly_robot_IK_0.ipynb b/Code/python/assembly_robot_IK_0.ipynb
new file mode 100644
index 0000000..9579b5e
--- /dev/null
+++ b/Code/python/assembly_robot_IK_0.ipynb
@@ -0,0 +1,945 @@
+{
+ "cells": [
+ {
+ "cell_type": "code",
+ "execution_count": 1,
+ "id": "8609399e",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "from copy import deepcopy\n",
+ "from IPython.display import display, HTML, clear_output\n",
+ "import matplotlib.pyplot as plt\n",
+ "import numpy as np\n",
+ "import os\n",
+ "import random\n",
+ "from scipy.signal import lfilter\n",
+ "\n",
+ "from time import sleep\n",
+ "\n",
+ "from pydrake.all import (\n",
+ " AddMultibodyPlantSceneGraph,\n",
+ " ConnectPlanarSceneGraphVisualizer,\n",
+ " DiagramBuilder,\n",
+ " FixedOffsetFrame,\n",
+ " InverseDynamicsController,\n",
+ " LeafSystem,\n",
+ " MultibodyPlant,\n",
+ " Parser,\n",
+ " PlanarJoint,\n",
+ " PrismaticJoint,\n",
+ " RevoluteJoint,\n",
+ " RigidTransform,\n",
+ " RotationMatrix,\n",
+ " Simulator,\n",
+ " SpatialInertia,\n",
+ " UnitInertia,\n",
+ " VectorSystem,\n",
+ " ControllabilityMatrix,\n",
+ " Linearize, \n",
+ " LinearQuadraticRegulator,\n",
+ " MeshcatVisualizer,\n",
+ " Saturation, \n",
+ " SceneGraph,\n",
+ " StartMeshcat, \n",
+ " WrapToSystem, \n",
+ " ConstantVectorSource, \n",
+ " TrajectorySource, \n",
+ " Trajectory, \n",
+ " DirectCollocation, \n",
+ " LogVectorOutput, \n",
+ " PiecewisePolynomial, \n",
+ " PlanarSceneGraphVisualizer,\n",
+ " MultibodyPositionToGeometryPose,\n",
+ " PortDataType,\n",
+ " BasicVector,\n",
+ " LogVectorOutput,\n",
+ " DirectCollocation,\n",
+ " Solve,\n",
+ " PiecewisePolynomial,\n",
+ " FiniteHorizonLinearQuadraticRegulatorOptions,\n",
+ " MakeFiniteHorizonLinearQuadraticRegulator\n",
+ ")\n",
+ "# from manipulation.utils import ConfigureParser\n",
+ "from underactuated import running_as_notebook\n",
+ "\n",
+ "def AdvanceToAndVisualize(\n",
+ " simulator,\n",
+ " visualizer,\n",
+ " time,\n",
+ " time_if_running_headless=0.1,\n",
+ " movie_filename=None,\n",
+ "):\n",
+ " \"\"\"\n",
+ " Helper to support visualizing a simulation with pyplot visualizer.\n",
+ " Will simply simulate (with target_realtime_rate = 1) if visualizer.show =\n",
+ " True, or will record and render an animation if visualizer.show = False. If\n",
+ " specified, time_if_running_headless will be used instead of time if\n",
+ " running_as_notebook is False.\n",
+ " \"\"\"\n",
+ " if visualizer._show:\n",
+ " target_rate = simulator.get_target_realtime_rate()\n",
+ " simulator.set_target_realtime_rate(1.0)\n",
+ " else:\n",
+ " print(\"simulating... \", end=\" \")\n",
+ " visualizer.start_recording()\n",
+ " if time_if_running_headless and not running_as_notebook:\n",
+ " time = time_if_running_headless\n",
+ " simulator.AdvanceTo(time)\n",
+ " if not visualizer._show or movie_filename:\n",
+ " print(\"done.\\ngenerating animation...\")\n",
+ " ani = visualizer.get_recording_as_animation()\n",
+ " display(HTML(ani.to_jshtml()))\n",
+ " if movie_filename:\n",
+ " with open(movie_filename, \"w\") as f:\n",
+ " f.write(ani.to_jshtml())\n",
+ " else:\n",
+ " simulator.set_target_realtime_rate(target_rate)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 2,
+ "id": "bf278c55",
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "INFO:drake:Meshcat listening for connections at http://localhost:7000\n"
+ ]
+ }
+ ],
+ "source": [
+ "meshcat = StartMeshcat()"
+ ]
+ },
+ {
+ "cell_type": "markdown",
+ "id": "32b2b21f",
+ "metadata": {},
+ "source": [
+ "# test urdf loading"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 3,
+ "id": "196699f9",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "from pydrake.all import ModelVisualizer"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 108,
+ "id": "cdc2bbc2",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "# you broke it\n",
+ "def vis_urdf(): \n",
+ " builder = DiagramBuilder()\n",
+ " plant, scene_graph = AddMultibodyPlantSceneGraph(builder, time_step=0.0)\n",
+ " parser = Parser(plant)\n",
+ " file_name = 'pendubot.urdf'\n",
+ "# bille = parser.AddModelFromFile(file_name)\n",
+ "# plant.WeldFrames(plant.world_frame(), plant.GetFrameByName(\"link1\", bille))\n",
+ "# floor = parser.AddModelFromFile('floor.urdf')\n",
+ "# plant.WeldFrames(plant.world_frame(), plant.GetFrameByName(\"base\", floor))\n",
+ " plant.Finalize()\n",
+ " # reset meshcat visualization\n",
+ " visualizer = MeshcatVisualizer.AddToBuilder(builder, scene_graph, meshcat)\n",
+ " meshcat.Delete()\n",
+ " meshcat.DeleteAddedControls()\n",
+ "\n",
+ " diagram = builder.Build()\n",
+ "\n",
+ " # Set up a simulator to run this diagram\n",
+ " simulator = Simulator(diagram)\n",
+ " context = simulator.get_mutable_context()\n",
+ "\n",
+ " # Set the initial conditions (x, theta, xdot, thetadot)\n",
+ " context.SetContinuousState(0) # at rest\n",
+ "\n",
+ " simulator.set_target_realtime_rate(1.0)\n",
+ "\n",
+ " simulator.AdvanceTo(0.1)\n",
+ "\n",
+ "# vis_urdf()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "9059f634",
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 4,
+ "id": "169dc4ba",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "from pydrake.all import JointSliders"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 5,
+ "id": "4eebcd94",
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "Click 'Stop Running' or press Esc to quit\n"
+ ]
+ }
+ ],
+ "source": [
+ "meshcat.Delete()\n",
+ "meshcat.DeleteAddedControls()\n",
+ "\n",
+ "visualizer = ModelVisualizer(meshcat=meshcat)\n",
+ "visualizer.AddModels('pendubot.urdf')\n",
+ "\n",
+ "visualizer.Run(loop_once=not running_as_notebook)\n",
+ "meshcat.DeleteAddedControls()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 79,
+ "id": "59aff7f9",
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "INFO:drake:Press the 'Stop JointSliders' button in Meshcat or press 'Escape' to continue.\n"
+ ]
+ }
+ ],
+ "source": [
+ "def JointSlide():\n",
+ " builder = DiagramBuilder()\n",
+ " plant, scene_graph = AddMultibodyPlantSceneGraph(builder, time_step=0.0)\n",
+ " parser = Parser(plant)\n",
+ " file_name = 'assembly_0.urdf'\n",
+ " bille = parser.AddModelFromFile(file_name)\n",
+ " plant.WeldFrames(plant.world_frame(), plant.GetFrameByName(\"link1\", bille))\n",
+ " floor = parser.AddModelFromFile('floor.urdf')\n",
+ " plant.WeldFrames(plant.world_frame(), plant.GetFrameByName(\"base\", floor))\n",
+ " plant.Finalize()\n",
+ " # reset meshcat visualization\n",
+ " visualizer = MeshcatVisualizer.AddToBuilder(builder, scene_graph, meshcat)\n",
+ " meshcat.Delete()\n",
+ " meshcat.DeleteAddedControls()\n",
+ " sliders = builder.AddSystem(JointSliders(meshcat, plant))\n",
+ " diagram = builder.Build()\n",
+ " sliders.Run(diagram, 120)\n",
+ " context = diagram.CreateDefaultContext()\n",
+ "JointSlide()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "0de348d8",
+ "metadata": {},
+ "outputs": [],
+ "source": []
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 8,
+ "id": "b4fe6265",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "from pydrake.multibody import inverse_kinematics\n",
+ "from pydrake.trajectories import PiecewisePolynomial\n",
+ "from pydrake.solvers.mathematicalprogram import MathematicalProgram, Solve"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 74,
+ "id": "6ee1016d",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "#constants\n",
+ "voxel_spacing = 0.1\n",
+ "voxelOffset = [0,0,voxel_spacing]\n",
+ "\n",
+ "def get_rotation_matrix(axis, theta):\n",
+ " if axis=='x':\n",
+ " rot = np.matrix([[1, 0, 0],[0,np.cos(theta),-np.sin(theta)],[0,np.sin(theta),np.cos(theta)]])\n",
+ " elif axis=='y':\n",
+ " rot = np.matrix([[np.cos(theta), 0, np.sin(theta)],[0,1,0],[-np.sin(theta),0,np.cos(theta)]])\n",
+ " elif axis=='z':\n",
+ " rot = np.matrix([[np.cos(theta), -np.sin(theta), 0],[np.sin(theta),np.cos(theta),0],[0,0,1]])\n",
+ " else:\n",
+ " print('invalid axis')\n",
+ " rot = np.matrix([[1, 0, 0],[0,1,0],[0,0,1]])\n",
+ " return rot\n",
+ "\n",
+ "def VoxelSpaceConverter(coord):\n",
+ " xyz = voxel_spacing*np.array([coord[0],coord[1],coord[2]])\n",
+ " #rot = [coord[3],coord[4],coord[5]]\n",
+ " rotx = get_rotation_matrix('x', coord[3])\n",
+ " roty = get_rotation_matrix('y', coord[4])\n",
+ " rotz = get_rotation_matrix('z', coord[5])\n",
+ " rot = rotx @ roty @ rotz\n",
+ " return np.array(xyz), rot"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 161,
+ "id": "50b13ab5",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def Add6DofSystem():\n",
+ " \"\"\"Add 6dof robot and controller robot.\"\"\"\n",
+ " #Build robot, world, etc.\n",
+ " builder = DiagramBuilder()\n",
+ " plant, scene_graph = AddMultibodyPlantSceneGraph(builder, time_step=0.0001)\n",
+ " parser = Parser(plant)\n",
+ "\n",
+ " #load urdf files\n",
+ " full6dof = parser.AddModelFromFile(\"assembly_0.urdf\")\n",
+ "# full6dof = parser.AddModelFromFile(\"assembly_simple.urdf\")\n",
+ " floor = parser.AddModelFromFile('floor.urdf')\n",
+ " plant.WeldFrames(plant.world_frame(), plant.GetFrameByName(\"base\", floor))\n",
+ "# floor = parser.AddModelFromFile(\"floor.urdf\")\n",
+ "\n",
+ " #weld robot (to floor)\n",
+ "# plant.WeldFrames(plant.world_frame(), plant.GetFrameByName(\"foot1\", full6dof),RigidTransform([0.0,0.0,0.0])) \n",
+ " plant.WeldFrames(plant.world_frame(), plant.GetFrameByName(\"link1\", full6dof))\n",
+ " #plant.AddFrame(FixedOffsetFrame(\"off_gripper\", plant.GetFrameByName(\"foot2\", full6dof), RigidTransform([0.0,0.0,(voxel_spacing/2)])))\n",
+ " ###testing###\n",
+ " #plant.AddFrame()\n",
+ " \"\"\"X_WG = RigidTransform(RotationMatrix(np.matrix([[1, 0, 0],[0,-1,0],[0,0,-1]])), (np.array([0,0.052,0]) + voxelOffset))\n",
+ " AddMultibodyTriad(X_WG, scene_graph)\"\"\"\n",
+ " #AddMultibodyTriad(plant.GetFrameByName(\"foot2\", full6dof), scene_graph)\n",
+ "\n",
+ " plant.Finalize()\n",
+ "\n",
+ " #Make controller robot\n",
+ " controller_plant = MultibodyPlant(time_step=0.0001)\n",
+ " controller_6dof = Parser(controller_plant).AddModelFromFile(\"assembly_simple.urdf\")\n",
+ " controller_plant.WeldFrames(controller_plant.world_frame(), controller_plant.GetFrameByName(\"link1\", controller_6dof))\n",
+ " #print(controller_plant.GetJointByName(\"elbow1\",controller_6dof))\n",
+ " #controller_plant.AddFrame(FixedOffsetFrame(\"off_gripper\", plant.GetFrameByName(\"foot2\", full6dof), RigidTransform([0.0,0.0,(voxel_spacing/2)])))\n",
+ " controller_plant.Finalize()\n",
+ " controller_context = controller_plant.CreateDefaultContext()\n",
+ "\n",
+ " #Inverse dynamics controller \n",
+ " #PID gains, same-ish to real. \n",
+ " #was 100x\n",
+ " Kp = 100*np.ones(5)\n",
+ " Ki = np.zeros(5)\n",
+ " Kd = 50*np.ones(5)\n",
+ "\n",
+ " full_6dof_controller = builder.AddSystem(InverseDynamicsController(controller_plant, Kp, Ki, Kd, False))\n",
+ " full_6dof_controller.set_name(\"full_6dof_controller\");\n",
+ " #Connect controller plant with real plant\n",
+ " builder.Connect(plant.get_state_output_port(full6dof), full_6dof_controller.get_input_port_estimated_state())\n",
+ " builder.Connect(full_6dof_controller.get_output_port_control(), plant.get_actuation_input_port())\n",
+ "\n",
+ " return plant, builder, scene_graph, full6dof , controller_plant, controller_context, full_6dof_controller\n",
+ "\n",
+ "def BuildforSimulate(vis=True):\n",
+ " #export cheat ports\n",
+ " builder.ExportOutput(scene_graph.get_query_output_port(), \"geometry_query\")\n",
+ " builder.ExportOutput(plant.get_contact_results_output_port(), \"contact_results\")\n",
+ " builder.ExportOutput(plant.get_state_output_port(), \"plant_continuous_state\")\n",
+ "\n",
+ " #Build context, add visualizer, etc.\n",
+ " if vis:\n",
+ " visualizer = MeshcatVisualizer.AddToBuilder(builder, scene_graph, meshcat)\n",
+ " meshcat.Delete()\n",
+ " meshcat.DeleteAddedControls()\n",
+ " diagram = builder.Build()\n",
+ " context = diagram.CreateDefaultContext()\n",
+ " plant_context = plant.GetMyMutableContextFromRoot(context)\n",
+ " return diagram, context, plant_context, visualizer\n",
+ "\n",
+ "def IKproblem(X_WG, initialPosition):\n",
+ " \"\"\"Set up an IK problem. Args: X_WG, initialPosition. Returns xdes, ie (q,qdot)\"\"\"\n",
+ " ik = inverse_kinematics.InverseKinematics(controller_plant) #IK problem\n",
+ " \n",
+ " q_variables = ik.q() # Get variables for MathematicalProgram\n",
+ "\n",
+ " prog = ik.prog() # Get MathematicalProgram\n",
+ " \n",
+ " #JOINT LIMITS\n",
+ " #wrists\n",
+ "# prog.AddLinearConstraint(q_variables[0]<=3.5)\n",
+ "# prog.AddLinearConstraint(q_variables[5]<=3.5)\n",
+ "\n",
+ "# prog.AddLinearConstraint(q_variables[0]>=-3.5)\n",
+ "# prog.AddLinearConstraint(q_variables[5]>=-3.5)\n",
+ "\n",
+ "# #elbows\n",
+ "# prog.AddLinearConstraint(q_variables[1]<=1.6)\n",
+ "# prog.AddLinearConstraint(q_variables[2]<=1.6)\n",
+ "# prog.AddLinearConstraint(q_variables[3]<=1.6)\n",
+ "# prog.AddLinearConstraint(q_variables[4]<=1.6)\n",
+ "\n",
+ "# prog.AddLinearConstraint(q_variables[1]>= -1.6)\n",
+ "# prog.AddLinearConstraint(q_variables[2]>= -1.6)\n",
+ "# prog.AddLinearConstraint(q_variables[3]>= -1.6)\n",
+ "# prog.AddLinearConstraint(q_variables[4]>= -1.6)\n",
+ "# prog.AddLinearConstraint(q_variables[:]<=4.0)\n",
+ "# prog.AddLinearConstraint(q_variables[:]>=-4.0)\n",
+ "\n",
+ " #Position contraints on gripper\n",
+ " p_WG = X_WG.translation()\n",
+ " p_WG_lower = p_WG + np.array([-0.00001,-0.00001,-0.00001])\n",
+ " p_WG_upper = p_WG + np.array([0.00001,0.00001, 0.00001])\n",
+ " AddPositionConstraint(ik, p_WG_lower, p_WG_upper)\n",
+ " \n",
+ " #Orientation constraints\n",
+ " R_WG = X_WG.rotation()\n",
+ " AddOrientationConstraint(ik, R_WG, 0.01)\n",
+ " \n",
+ "\n",
+ " #Quadratic cost on distance from initial position\n",
+ " prog.AddQuadraticErrorCost(np.identity(len(q_variables)), initialPosition, q_variables)\n",
+ " \n",
+ " guess = initialPosition\n",
+ " \n",
+ " prog.SetInitialGuess(q_variables, guess)\n",
+ " \n",
+ " result = Solve(prog)\n",
+ " \n",
+ " if not result.is_success():\n",
+ " print(\"not success\")\n",
+ " #raise RuntimeError\n",
+ "\n",
+ " qdes = result.GetSolution(q_variables)\n",
+ " \n",
+ " xdes = np.append(qdes, np.zeros(0))\n",
+ " return xdes\n",
+ "\n",
+ "def GetOffset():\n",
+ " #Offset pose\n",
+ " #get z height of gripper frame, this is at the top of the voxel\n",
+ " #gripper_frame = plant.GetFrameByName(\"foot2\", full6dof)\n",
+ " z_gripper = gripper_frame.CalcPoseInWorld(plant_context).translation()[2]\n",
+ " voxel_spacing = 0.1 # you should define this elsewhere\n",
+ " #temporary if statement... I don't wanna deal with it rn. \n",
+ " if (z_gripper-voxel_spacing) > (voxel_spacing/2):\n",
+ " print(\"offset N\")\n",
+ " xyz_des = gripper_frame.CalcPoseInWorld(plant_context).translation()\n",
+ " off = False\n",
+ " else:\n",
+ " print(\"offset Y\")\n",
+ " xyz_des = gripper_frame.CalcPoseInWorld(plant_context).translation() + [0,0,voxel_spacing/2]\n",
+ " off = True\n",
+ " X_WG = RigidTransform(RotationMatrix(np.matrix([[1, 0, 0],[0,-1,0],[0,0,-1]])), (xyz_des))\n",
+ " return X_WG, off\n",
+ "\n",
+ "def AddOrientationConstraint(ik, R_WG, bounds):\n",
+ " \"\"\"Add orientation constraint to the ik problem. Implements an inequality\n",
+ " constraint where the axis-angle difference between f_R(q) and R_WG must be\n",
+ " within bounds. Can be translated to:\n",
+ " ik.prog().AddBoundingBoxConstraint(angle_diff(f_R(q), R_WG), -bounds, bounds)\n",
+ " \"\"\"\n",
+ " ik.AddOrientationConstraint(\n",
+ " frameAbar=world_frame, R_AbarA=R_WG,\n",
+ " frameBbar=gripper_frame, R_BbarB=RotationMatrix(),\n",
+ " theta_bound=bounds\n",
+ " )\n",
+ "\n",
+ "def AddPositionConstraint(ik, p_WG_lower, p_WG_upper):\n",
+ " \"\"\"Add position constraint to the ik problem. Implements an inequality\n",
+ " constraint where f_p(q) must lie between p_WG_lower and p_WG_upper. Can be\n",
+ " translated to\n",
+ " ik.prog().AddBoundingBoxConstraint(f_p(q), p_WG_lower, p_WG_upper)\n",
+ " \"\"\"\n",
+ " ik.AddPositionConstraint(\n",
+ " frameA=world_frame, frameB=gripper_frame, p_BQ=np.zeros(3),\n",
+ " p_AQ_lower=p_WG_lower, p_AQ_upper=p_WG_upper)\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 162,
+ "id": "12938f26",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "def get_voxel_offset(rot):\n",
+ " vhat = [0,0,1]\n",
+ " vhat_rot = np.array((rot @ vhat).flatten())[0]\n",
+ " if round(vhat_rot[2]) != 0:\n",
+ " VoxelOffset = [0,0,voxel_spacing]\n",
+ " elif round(vhat_rot[1]) != 0:\n",
+ " VoxelOffset = [0,-voxel_spacing/2,voxel_spacing/2]\n",
+ " elif round(vhat_rot[0]) !=0:\n",
+ " VoxelOffset = [-voxel_spacing/2, 0, voxel_spacing/2]\n",
+ " return VoxelOffset"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 182,
+ "id": "bd213cee",
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "/var/folders/x2/7m_0xwh96ys74v5ztc0w94zm0000gn/T/ipykernel_19654/3674624732.py:42: DrakeDeprecationWarning: (Deprecated) See ForcedPublish() \n",
+ "*/ (Deprecated.)\n",
+ "\n",
+ "Deprecated:\n",
+ " Use ForcedPublish() instead This will be removed from Drake on or\n",
+ " after 2023-03-01.\n",
+ " diagram.Publish(context)\n"
+ ]
+ },
+ {
+ "data": {
+ "text/plain": [
+ "array([ 1.57, 1.2 , 1.47, 0.47, -4.7 ])"
+ ]
+ },
+ "execution_count": 182,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "#desired position\n",
+ "graspPosition, rot = VoxelSpaceConverter([3,1,0,np.pi,0,0])#[4,1,6,np.pi/2,0,0] you need to add 1 to the z height?\n",
+ "# VoxelOffset = [0.0075,0.0,0.1]#get_voxel_offset(rot)\n",
+ "VoxelOffset = get_voxel_offset(rot)\n",
+ "# print(VoxelOffset)\n",
+ "\n",
+ "#initial position\n",
+ "#initialPosition = [-0. , 0.27, 0.55, 0.89, 1.42, 3.13]\n",
+ "initialPosition = [ 1.57, -0. , 2.21, 0.92, -4.72]#[ 0.03, -1.16, 2.39, 0.34, -6.28]#[0,0,0,0,0]#[0.,0.5,1.1,1.1,0.5,0.]\n",
+ "initialPosition =[ 2.62, 0.42, 2.35, 0.38, -3.67]\n",
+ "initialPosition = [ 1.99, 1.13, 1.67, 0.34, -4.28]\n",
+ "# initialPosition = [ 3.14, 1.18, 0.93, 1.03, -3.15]\n",
+ "#Clear scene\n",
+ "meshcat.Delete()\n",
+ "\n",
+ "#Set up scene\n",
+ "plant, builder, scene_graph, full6dof, controller_plant, controller_context, full_6dof_controller = Add6DofSystem()\n",
+ "diagram, context, plant_context, visualizer = BuildforSimulate()\n",
+ "\n",
+ "frame_0 = np.append(initialPosition, np.zeros(5))\n",
+ "#Set initial position\n",
+ "plant.SetPositions(plant_context, initialPosition)\n",
+ "\n",
+ "world_frame = plant.world_frame()\n",
+ "gripper_frame = plant.GetFrameByName(\"link6\", full6dof)\n",
+ "\n",
+ "X_WG = RigidTransform(RotationMatrix(rot), graspPosition+VoxelOffset)\n",
+ "frame_1 = IKproblem(X_WG, initialPosition)\n",
+ "\n",
+ "# plant.SetPositions(plant_context, frame_1[0:5])\n",
+ "initialPosition = [1.57,0,0,0,0]\n",
+ "plant.SetPositions(plant_context, initialPosition)\n",
+ "# plant.SetPositions(plant_context, initialPosition)\n",
+ "\n",
+ "# frame_1 = np.array([0.785,0,0,0,0])\n",
+ "\n",
+ "x_des = np.append(frame_1, np.array([0,0,0,0,0]))\n",
+ "# x_des = np.append([2.5,0,0,0,0], np.array([0,0,0,0,0]))\n",
+ "\n",
+ "full_6dof_controller.GetInputPort('desired_state').FixValue(full_6dof_controller.GetMyMutableContextFromRoot(context), x_des)\n",
+ "\n",
+ "diagram.Publish(context)\n",
+ "#frame_1\n",
+ "np.round(frame_1,2)\n",
+ "#np.round((frame_1-np.array([0,0,0,0,0,3.14,0,0,0,0,0,0])),2)\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 15,
+ "id": "396c1ba1",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "from time import sleep"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 183,
+ "id": "477f475e",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "simulator = Simulator(diagram, context)\n",
+ "# sleep(5.0)\n",
+ "simulator.set_target_realtime_rate(1.0)\n",
+ "# visualizer.StartRecording()\n",
+ "visualizer.StartRecording()\n",
+ "simulator.AdvanceTo(2.0)\n",
+ "visualizer.PublishRecording()\n",
+ "# visualizer.PublishRecording()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 90,
+ "id": "1b21ef79",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "meshcat.Delete()\n",
+ "meshcat.DeleteAddedControls()"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 160,
+ "id": "f8bfdbb5",
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "M:20:-0.0,\n",
+ "M:21:67.52,\n",
+ "M:22:37.55,\n",
+ "M:23:16.38,\n"
+ ]
+ }
+ ],
+ "source": [
+ "# pos = np.array([ 3.14, 0.49, 2.21, 0.44, -3.15])\n",
+ "pos = np.round(frame_1,2)\n",
+ "# pos = np.array([0,0,0,0,0])\n",
+ "reduction = 30.0*1.3\n",
+ "\n",
+ "ids = np.array([20,21,22,23,24])\n",
+ "\n",
+ "pos[4] = 0\n",
+ "# pos[0] = -1*(pos[0]-1.57+ (4.0/reduction))\n",
+ "pos[0] = -1*(pos[0] - 3.14)# + (4.0/reduction))\n",
+ "pos[1]=pos[1]\n",
+ "pos[2] = -1*pos[2]\n",
+ "# pos[3]+=(3.8/reduction)\n",
+ "# pos[1]+=(5/reduction)\n",
+ "# pos[2]+=(3/reduction)\n",
+ "pos = reduction*pos\n",
+ "pos[3]+=0\n",
+ "pos[1]+=2\n",
+ "pos[2]+=78.5\n",
+ "# for i in range(len(ids)-1):\n",
+ "# print(\"<M,\"+str(ids[i])+\",\"+str(pos[i])+\">\")\n",
+ "for j in range(len(ids)-1):\n",
+ " print(\"M:\"+str(ids[j])+\":\"+str(pos[j])+\",\")"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 87,
+ "id": "fdfc3494",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "# positions = np.array([[1,2,8],[1,2,2],[1,2,1],[1,2,0],[1,2.5,0],[1,2.5,0],[1,2.25,0],[1,2.25,0],[0.75,2.25,0],\n",
+ "# [0.75,2.5,0],[0.75,2,0],[0.75,2,0],[0.5,2,0],[0.5,2,0],[0.5,2.25,0],[0.5,2.25,0],\n",
+ "# [0.5,2.5,0],[0.5,2.5,0],[0.5,2.5,0],[1,2,0]])\n",
+ "# positions[:,0] = 0.25*positions[:,0]+0.75\n",
+ "# positions[:,1] = 0.25*positions[:,1]+0.85\n",
+ "# positions[:,2]=0.25*positions[:,2]\n",
+ "positions = np.array([[0,1.9,0],[0,1.9,1],[0,1.9,0],[0,3,1],[0,3,0],[0,3,-1],[0,2,-1],[0,2,0]])"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 9,
+ "id": "e68ac650",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "# import matplotlib.pyplot as plt "
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 45,
+ "id": "46704407",
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "image/png": 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",
+ "text/plain": [
+ "<Figure size 640x480 with 1 Axes>"
+ ]
+ },
+ "metadata": {},
+ "output_type": "display_data"
+ },
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "[[1. 1.35 2. ]\n",
+ " [1. 1.35 0.5 ]\n",
+ " [1. 1.35 0.25 ]\n",
+ " [1. 1.35 0. ]\n",
+ " [1. 1.475 0. ]\n",
+ " [1. 1.475 0.25 ]\n",
+ " [1. 1.4125 0.25 ]\n",
+ " [1. 1.4125 0. ]\n",
+ " [0.9375 1.4125 0. ]\n",
+ " [0.9375 1.475 0. ]\n",
+ " [0.9375 1.35 0. ]\n",
+ " [0.9375 1.35 0.25 ]\n",
+ " [0.875 1.35 0.25 ]\n",
+ " [0.875 1.35 0. ]\n",
+ " [0.875 1.4125 0. ]\n",
+ " [0.875 1.4125 0.25 ]\n",
+ " [0.875 1.475 0.25 ]\n",
+ " [0.875 1.475 0. ]\n",
+ " [0.875 1.475 0.25 ]\n",
+ " [1. 1.35 0.25 ]]\n"
+ ]
+ }
+ ],
+ "source": [
+ "# x = []\n",
+ "# y = []\n",
+ "# for i in range(len(positions)):\n",
+ "# x.append(positions[i][0])\n",
+ "# y.append(positions[i][1])\n",
+ "\n",
+ "# plt.plot(x,y)\n",
+ "# plt.show()\n",
+ "# print(positions)"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 101,
+ "id": "2c9a2bbc",
+ "metadata": {},
+ "outputs": [
+ {
+ "name": "stdout",
+ "output_type": "stream",
+ "text": [
+ "P,\n",
+ "M:20:-18.55,\n",
+ "M:21:47.9,\n",
+ "M:22:-80.46,\n",
+ "M:23:-0.45,\n",
+ "P,M:21:42.9,\n",
+ "P,\n",
+ "M:20:-18.55,\n",
+ "M:21:22.23,\n",
+ "M:22:-90.69,\n",
+ "M:23:14.9,\n",
+ "P,M:21:17.23,\n",
+ "P,\n",
+ "M:20:-18.55,\n",
+ "M:21:47.9,\n",
+ "M:22:-80.46,\n",
+ "M:23:-0.45,\n",
+ "P,M:21:42.9,\n",
+ "P,\n",
+ "M:20:-10.19,\n",
+ "M:21:35.25,\n",
+ "M:22:-66.12,\n",
+ "M:23:25.84,\n",
+ "P,M:21:30.25,\n",
+ "P,\n",
+ "M:20:-10.19,\n",
+ "M:21:52.33,\n",
+ "M:22:-58.26,\n",
+ "M:23:16.87,\n",
+ "P,M:21:47.33,\n",
+ "P,\n",
+ "M:20:-10.19,\n",
+ "M:21:71.05,\n",
+ "M:22:-42.22,\n",
+ "M:23:14.34,\n",
+ "P,M:21:66.05,\n",
+ "P,\n",
+ "M:20:-17.36,\n",
+ "M:21:68.54,\n",
+ "M:22:-62.17,\n",
+ "M:23:-2.8,\n",
+ "P,M:21:63.540000000000006,\n",
+ "P,\n",
+ "M:20:-17.36,\n",
+ "M:21:47.84,\n",
+ "M:22:-78.68,\n",
+ "M:23:1.39,\n",
+ "P,M:21:42.84,\n"
+ ]
+ },
+ {
+ "name": "stderr",
+ "output_type": "stream",
+ "text": [
+ "/var/folders/x2/7m_0xwh96ys74v5ztc0w94zm0000gn/T/ipykernel_70797/244735772.py:32: DrakeDeprecationWarning: (Deprecated) See ForcedPublish() \n",
+ "*/ (Deprecated.)\n",
+ "\n",
+ "Deprecated:\n",
+ " Use ForcedPublish() instead This will be removed from Drake on or\n",
+ " after 2023-03-01.\n",
+ " diagram.Publish(context)\n"
+ ]
+ }
+ ],
+ "source": [
+ "for i in range(len(positions)):\n",
+ " #desired position\n",
+ " x = positions[i][0]\n",
+ " y = positions[i][1]\n",
+ " z = positions[i][2]\n",
+ " graspPosition, rot = VoxelSpaceConverter([x,y,z,np.pi,0,0])#[4,1,6,np.pi/2,0,0] you need to add 1 to the z height?\n",
+ " VoxelOffset = get_voxel_offset(rot)\n",
+ "\n",
+ " #initial position\n",
+ " #initialPosition = [-0. , 0.27, 0.55, 0.89, 1.42, 3.13]\n",
+ " initialPosition = [ 1.57, -0. , 2.21, 0.92, -4.72]#[ 0.03, -1.16, 2.39, 0.34, -6.28]#[0,0,0,0,0]#[0.,0.5,1.1,1.1,0.5,0.]\n",
+ " initialPosition =[ 2.62, 0.42, 2.35, 0.38, -3.67]\n",
+ " #Clear scene\n",
+ " meshcat.Delete()\n",
+ "\n",
+ " #Set up scene\n",
+ " plant, builder, scene_graph, full6dof, controller_plant, controller_context, full_6dof_controller = Add6DofSystem()\n",
+ " diagram, context, plant_context = BuildforSimulate()\n",
+ "\n",
+ " frame_0 = np.append(initialPosition, np.zeros(5))\n",
+ " #Set initial position\n",
+ " plant.SetPositions(plant_context, initialPosition)\n",
+ "\n",
+ " world_frame = plant.world_frame()\n",
+ " gripper_frame = plant.GetFrameByName(\"link6\", full6dof)\n",
+ "\n",
+ " X_WG = RigidTransform(RotationMatrix(rot), graspPosition+VoxelOffset)\n",
+ " frame_1 = IKproblem(X_WG, initialPosition)\n",
+ "\n",
+ " plant.SetPositions(plant_context, frame_1[0:5])\n",
+ " #plant.SetPositions(plant_context, initialPosition)\n",
+ " diagram.Publish(context)\n",
+ " #frame_1\n",
+ " np.round(frame_1,2)\n",
+ "# pos = np.array([ 1.57, 0.24, 2.69, 0.22, -4.71])\n",
+ " pos = np.array(frame_1[0:5])\n",
+ " reduction = 30.0*1.3\n",
+ "\n",
+ " ids = np.array([20,21,22,23,24])\n",
+ "\n",
+ " pos[4] = 0\n",
+ " pos[0] = -1*(pos[0]-3.14+ (4.0/reduction))\n",
+ " pos[1]=pos[1]\n",
+ " pos[2] = -1*pos[2]\n",
+ " # pos[3]+=(3.8/reduction)\n",
+ " # pos[1]+=(5/reduction)\n",
+ " # pos[2]+=(3/reduction)\n",
+ " pos = reduction*pos\n",
+ " pos[3]+=1.0\n",
+ " pos[1]+=7.0\n",
+ " pos[2]+=3.0\n",
+ " pos[0]-=(17-18)\n",
+ " pos[0]=pos[0]*-1\n",
+ " pos = np.round(pos,2)\n",
+ " print(\"P,\")\n",
+ " for j in range(len(ids)-1):\n",
+ " print(\"M:\"+str(ids[j])+\":\"+str(pos[j])+\",\")\n",
+ "# if i > 2:\n",
+ " print(\"P,M:21:\"+str(pos[1]-5)+\",\")\n",
+ "# print(\"F\"+str(x)+str(y)+str(z)+\": \")\n",
+ "# for i in range(len(ids)):\n",
+ "# print(\"<M,\"+str(ids[i])+\",\"+str(pos[i])+\">\")"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": 132,
+ "id": "d2b89279",
+ "metadata": {},
+ "outputs": [
+ {
+ "data": {
+ "text/plain": [
+ "array([ 47.1, -6.6, 47.1, 53.4, -141.3])"
+ ]
+ },
+ "execution_count": 132,
+ "metadata": {},
+ "output_type": "execute_result"
+ }
+ ],
+ "source": [
+ "pos = np.array([ 1.57, -0.22, 1.57, 1.78, -4.71])\n",
+ "pos = 30*pos\n",
+ "pos"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "3d54d27c",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "cur_pos = np.array([6.333, 4.23, 10.0, 4.305, 10.0, 3.808, 0.967])\n",
+ "des_pos = 30*np.array([ 1.57, -0.22, 0, 1.57, 0, 1.78, -4.71])\n"
+ ]
+ },
+ {
+ "cell_type": "code",
+ "execution_count": null,
+ "id": "088abd00",
+ "metadata": {},
+ "outputs": [],
+ "source": [
+ "<M,9,-6.6><M,11,47.1><M,13,53.4>\n",
+ "<M,9,6.6><M,11,-47.1><M,13,53.4>\n",
+ "<M,9,4.23><M,11,4.3><M,13,3.8>"
+ ]
+ }
+ ],
+ "metadata": {
+ "kernelspec": {
+ "display_name": "NMMkernel",
+ "language": "python",
+ "name": "nmmkernel"
+ },
+ "language_info": {
+ "codemirror_mode": {
+ "name": "ipython",
+ "version": 3
+ },
+ "file_extension": ".py",
+ "mimetype": "text/x-python",
+ "name": "python",
+ "nbconvert_exporter": "python",
+ "pygments_lexer": "ipython3",
+ "version": "3.10.14"
+ }
+ },
+ "nbformat": 4,
+ "nbformat_minor": 5
+}
diff --git a/Code/python/assembly_simple.urdf b/Code/python/assembly_simple.urdf
new file mode 100644
index 0000000..50051b1
--- /dev/null
+++ b/Code/python/assembly_simple.urdf
@@ -0,0 +1,189 @@
+<?xml version="1.0" ?>
+<robot name="bille">
+ <link name="link1">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 0 0" xyz="0 0 0.15"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.15"/>
+ <geometry>
+ <cylinder length="0.300" radius="0.05"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ <!-- <collision>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <geometry>
+ <cylinder length="1.0" radius="0.05"/>
+ </geometry>
+ </collision> -->
+ </link>
+
+ <link name="link2">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 1.57 0" xyz="0.05 0 0"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 1.57 0" xyz="0.05 0 0"/>
+ <geometry>
+ <cylinder length="0.200" radius="0.05"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint1" type="revolute">
+ <parent link="link1"/>
+ <child link="link2"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0 0 0.25"/>
+ <dynamics damping="0.1"/>
+ </joint>
+
+ <transmission type="SimpleTransmission" name="transmission1">
+ <actuator name="motor1"/>
+ <joint name="joint1"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission>
+
+ <link name="link3">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 0 0" xyz="0.1 0 0.1"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0.1 0 0.1"/>
+ <geometry>
+ <cylinder length="0.300" radius="0.05"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint2" type="revolute">
+ <parent link="link2"/>
+ <child link="link3"/>
+ <axis xyz="1 0 0"/>
+ <origin xyz="0 0 0"/>
+ <dynamics damping="0.1"/>
+ </joint>
+
+ <transmission type="SimpleTransmission" name="transmission2">
+ <actuator name="motor2"/>
+ <joint name="joint2"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission>
+
+
+ <link name="link4">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 0 0" xyz="0 0 0.1"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.1"/>
+ <geometry>
+ <cylinder length="0.300" radius="0.050"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint3" type="revolute">
+ <parent link="link3"/>
+ <child link="link4"/>
+ <axis xyz="1 0 0"/>
+ <origin xyz="0 0 0.2"/>
+ <dynamics damping="0.1"/>
+ </joint>
+
+ <transmission type="SimpleTransmission" name="transmission3">
+ <actuator name="motor3"/>
+ <joint name="joint3"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission>
+
+ <link name="link5">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 1.57 0" xyz="0.05 0 0"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 1.57 0" xyz="0.05 0 0"/>
+ <geometry>
+ <cylinder length="0.200" radius="0.05"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint4" type="revolute">
+ <parent link="link4"/>
+ <child link="link5"/>
+ <axis xyz="1 0 0"/>
+ <origin xyz="0.0 0 0.25"/>
+ <dynamics damping="0.1"/>
+ </joint>
+
+ <transmission type="SimpleTransmission" name="transmission4">
+ <actuator name="motor4"/>
+ <joint name="joint4"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission>
+
+ <link name="link6">
+ <inertial>
+ <mass value="1"/>
+ <origin rpy="0 0 0" xyz="0 0 0.1"/>
+ <inertia ixx="0.083" iyy="0.083" izz="5e-7" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ <visual>
+ <origin rpy="0 0 0" xyz="0 0 0.1"/>
+ <geometry>
+ <cylinder length="0.200" radius="0.050"/>
+ </geometry>
+ <material>
+ <color rgba=".039 .142 .245 0.6" />
+ </material>
+ </visual>
+ </link>
+
+ <joint name="joint5" type="revolute">
+ <parent link="link5"/>
+ <child link="link6"/>
+ <axis xyz="0 0 1"/>
+ <origin xyz="0.1 0 0"/>
+ <dynamics damping="0.1"/>
+ </joint>
+
+ <transmission type="SimpleTransmission" name="transmission5">
+ <actuator name="motor5"/>
+ <joint name="joint5"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission>
+
+ <!-- <transmission type="SimpleTransmission" name="shoulder_trans">
+ <actuator name="Shoulder"/>
+ <joint name="ShoulderJoint"/>
+ <mechanicalReduction>1</mechanicalReduction>
+ </transmission> -->
+
+</robot>
+
diff --git a/Code/python/assembly_websocket_0.py b/Code/python/assembly_websocket_0.py
new file mode 100644
index 0000000..8ba4428
--- /dev/null
+++ b/Code/python/assembly_websocket_0.py
@@ -0,0 +1,618 @@
+from pickle import TRUE
+import websocket as ws
+import numpy as np
+import matplotlib.pyplot as plt
+import struct
+import time
+import string
+from cmath import nan
+import csv
+#from sympy import *
+
+# from pydrake.all import (
+# DiagramBuilder, MeshcatVisualizerCpp, MeshcatVisualizerParams,
+# Simulator, FindResourceOrThrow,
+# Parser, MultibodyPlant, RigidTransform, RollPitchYaw,
+# PiecewisePolynomial, PiecewiseQuaternionSlerp, RotationMatrix, Solve,
+# TrajectorySource, ConstantVectorSource, AddMultibodyPlantSceneGraph, SceneGraph, LinearQuadraticRegulator,
+# Linearize, PlanarSceneGraphVisualizer,Adder, Demultiplexer,
+# InverseDynamicsController, MakeMultibodyStateToWsgStateSystem,
+# PassThrough, StateInterpolatorWithDiscreteDerivative, Role,
+# FixedOffsetFrame, DirectCollocation, Multiplexer, ExtractValue
+# )
+# from pydrake.multibody import inverse_kinematics
+# from pydrake.trajectories import PiecewisePolynomial
+# from pydrake.solvers.mathematicalprogram import MathematicalProgram, Solve
+
+########################
+###Robot Definitions ###
+########################
+
+cont = True
+
+ids = [20,21,22,23,24] #i2c addresses for actuators
+# ids = [10,11,12,13,14,15,16,17]
+mids = [20,21,22,23,24]
+fids = [15,16]
+gripper_amt = 0 #how many grippers (to exclude from M)
+
+numActuatorHE = struct.pack("!B",len(mids)) #str(len(ids)).encode('utf-8')
+numActuatorM = struct.pack("!B",(len(mids)-gripper_amt))#str(len(ids)-gripper_amt).encode('utf-8')
+
+idsBytes = b""
+for i in ids:
+ idsBytes = idsBytes + struct.pack("!B", int(i))
+
+MidsBytes = b""
+# for i in ids[1:(len(ids)-1)]:
+# MidsBytes = MidsBytes + struct.pack("!B", int(i))
+for i in mids:
+ MidsBytes = MidsBytes + struct.pack("!B", int(i))
+
+position0 = np.array([-0.002, 4.734, 10.0, -1.997, 10.0, 0.316, 6.2])#np.array([0,1.55,1.68,1.52,1.52,1.48,1.65,0]) #zero position (i.e., all vertical)
+
+#offsets = [[0,0,0,-np.pi/2,-np.pi/2,0,0,0],[0,0,0,0,0,0,0,0]] #preset offsets.
+offset = np.array([-0.002, 4.734, 10.0, -1.997, 10.0, 0.316, 6.2]) # this is vertical.
+
+curPos = [0,0,0,2,0,0] # current position in voxel space xyz foot 1, xyz foot2.
+desPos = [0,0,0,2,0,0] # desired position in voxel space.
+
+nextStep = np.zeros(6) # Next move. format is [x,y,z,rot_x,rot_y,rot_z]
+
+priorStep = [False, 0, curPos] # have we moved yet?
+
+# addr = "ws://192.168.1.126"#"ws://192.168.1.113" #"ws://192.168.1.107" #birdi0 ESP32 IP address
+addr = "ws://192.168.1.144" #assembler
+# addr = "ws://192.168.1.142" #assembler
+# 192.168.1.126
+# addr = "ws://192.168.8.111"
+
+esp32 = ws.WebSocket()
+
+delay = 0.1
+
+esp32.connect(addr)
+
+#################
+### Main Loop ###
+#################
+
+def parse_input(inputs, position0, priorStep):
+
+ cont = True
+ inputs = inputs.translate({ord(c): None for c in string.whitespace})
+ inputs = inputs.split(",")
+ #global priorStepped
+ knots = 24 # interp amount... it's not a knot lol
+ #print(inputs)
+ if len(inputs) > 1:
+ #print(len(inputs))
+ for inp in inputs:
+ cont = parse_input(inp, position0, priorStep)
+ return cont
+ else:
+ inp = inputs[0]
+
+ def getTrajectories(frames,tk):
+ """
+ frames: list of numpy arrarys of the key frames.
+ tk: list of the breaktimes for each key frame
+ returns:
+ x_values_forward, x_values_reverseed, x_values_forward_B, x_values_reversed_B
+ """
+
+ assert len(tk)==len(frames), "lengths of frames and tk must match"
+
+ x_trajectory = PiecewisePolynomial.FirstOrderHold(tk, np.column_stack(frames))
+
+ knots = 24 # interpolation amount
+ times = np.linspace(x_trajectory.start_time(), x_trajectory.end_time(), knots)
+
+ x_values_forward = x_trajectory.vector_values(times) #size: actuator amt pos, velocity, by knot amount.
+ x_values_reversed_B = np.flip(x_values_forward)
+
+ x_values_reversed = np.zeros(((len(mids)-gripper_amt),knots))
+ x_values_forward_B = np.zeros(((len(mids)-gripper_amt),knots))
+
+ for i in range((len(mids)-gripper_amt)):
+ x_values_reversed[i][:] = np.flip(x_values_forward[i])
+ x_values_forward_B[i][:] = np.flip(x_values_reversed_B[i])
+
+ return x_values_forward, x_values_reversed, x_values_forward_B, x_values_reversed_B
+
+ def getEuler():
+ message = esp32.recv()
+ euler = []
+ for i in range(3):
+ euler.append(round(struct.unpack("<f",message[(i*4):(i*4 + 4)])[0],3))
+ esp32.recv() # it sends bonus messages
+ esp32.recv() # in fact, it sends two of them. I don't know why.
+ return euler
+
+ def getAccel():
+ message = esp32.recv()
+ accels = []
+ for i in range(3):
+ accels.append(round(struct.unpack("<f",message[(i*4):(i*4 + 4)])[0],3))
+ # print(accels)
+ esp32.recv() # 1 bonus message
+ return accels
+
+ if inp[0] == "A":
+ inp = inp.split(":")
+ boardAddress = struct.pack("!B", int(inp[1]))
+ heatTime = struct.pack("!B",int(inp[2])) #inp[2].endcode('utf-8')#struct.pack("@f",float(inp[2]))
+ packet = b"A" + boardAddress + heatTime
+ esp32.send(packet)
+ print("done")
+ elif inp[0] == "Z":
+ inp = inp.split(":")
+ boardAddress = struct.pack("!B", int(inp[1]))
+ #print(boardAddress)
+ packet = b"Z" + boardAddress
+ esp32.send(packet)
+ print("done")
+ elif inp[0] == "H":
+ inp = inp.split(":")
+ boardAddress = struct.pack("!B", int(inp[1]))
+ #print(boardAddress)
+ packet = b"H" + boardAddress
+ esp32.send(packet)
+ print("done")
+ elif inp[0] == "M":
+ inp = inp.split(":")
+ boardAddress = struct.pack("!B", int(inp[1]))
+ thetaDes = struct.pack("@f", float(inp[2]))
+ #print(boardAddress+thetaDes)
+ packet = b"M" + boardAddress + thetaDes
+ esp32.send(packet)
+ #print(packet)
+ print("done")
+ elif inp[0] == "E":
+ inp = inp.split(":")
+ boardAddress = struct.pack("!B", int(inp[1]))
+ #request data...
+ packet = b"E"+boardAddress
+ esp32.send(packet)
+ message = struct.unpack("<f", esp32.recv())
+ print(round(message[0],3))
+ print("done")
+ elif inp[0] == "G":
+ # inp = inp.split(":")
+ #request IMU Euler orientaiton angles...
+ packet = b"G"
+ esp32.send(packet)
+ message = esp32.recv()
+ # print(message)
+ euler = []
+ for i in range(3):
+ euler.append(round(struct.unpack("<f",message[(i*4):(i*4 + 4)])[0],3))
+ print(euler)
+ # mysteryVariable = esp32.recv()
+ # print(mysteryVariable)
+ # # print(esp32.recv())
+ # print(esp32.recv())
+ esp32.recv()
+ esp32.recv()
+ print("done")
+ elif inp[0] == "X":
+ #request IMU linear accelerations
+ packet = b"X"
+ esp32.send(packet)
+ message = esp32.recv()
+ # print(message)
+ accels = []
+ for i in range(3):
+ accels.append(round(struct.unpack("<f",message[(i*4):(i*4 + 4)])[0],3))
+ print(accels)
+ mysteryVariable = esp32.recv()
+ # print(mysteryVariable)
+ print("done")
+ elif inp[0] == "O":
+ #request IMU quaternion
+ packet = b"O"
+ esp32.send(packet)
+ message = esp32.recv()
+ # print(message)
+ quats = []
+ for i in range(4):
+ quats.append(struct.unpack("<f",message[(i*4):(i*4 + 4)])[0])
+ print(quats)
+ # mysteryVariable = esp32.recv()
+ print("done")
+ elif inp[0] == "L":
+ inp = inp.split(":")
+ LEDrepeats = struct.pack("!B", int(inp[1]))
+ packet = b"L"+LEDrepeats
+ esp32.send(packet)
+ print(packet)
+ print("done")
+ elif inp[0] == "R":
+ #i2c recovery method (power cycle the boards)
+ #this might power cycle everyone, yikes... maybe should add a diode
+ inp = inp.split(":")
+ packet = b"R"
+ esp32.send(packet)
+ print(packet)
+ print("done")
+
+ elif inp[0] == "P":
+ keepon = input("press a key to continue, or a cmd to add... ")
+ if keepon == "Q":
+ cont = parse_input("Q", position0, priorStep)
+ return cont
+ elif len(keepon)>=1:
+ parse_input(keepon, position0, priorStep)
+ parse_input("P",position0, priorStep)
+ elif inp[0] == "C":
+ inp = inp.split(":")
+ if inp[1] == "H":
+ packet = b"C"+b"H"+numActuatorHE+idsBytes
+ #print(packet)
+ esp32.send(packet)
+ elif inp[1] == "E":
+ if len(inp) == 2:
+ Eall = []
+ for i in range(len(mids)):
+ boardAddress = struct.pack("!B", mids[i])
+ packet = b"E"+boardAddress
+ esp32.send(packet)
+ message = struct.unpack("<f", esp32.recv())
+ #EConverter(boardAddress, message[0])
+ Eall.append(round(message[0],3))
+ #Eall.append(EConverter(ids[i], message[0]))
+ print(Eall)
+ else:
+ if inp[2] == "M":
+ Eall = []
+ for i in range(len(mids)):
+ boardAddress = struct.pack("!B", mids[i])
+ packet = b"E"+boardAddress
+ esp32.send(packet)
+ message = struct.unpack("<f", esp32.recv())
+ #EConverter(boardAddress, message[0])
+ Eall.append(round(message[0],3))
+ #Eall.append(EConverter(ids[i], message[0]))
+ print(Eall)
+ elif inp[2] == "F":
+ Eall = []
+ for i in range(4):
+ boardAddress = struct.pack("!B", fids[i])
+ packet = b"E"+boardAddress
+ esp32.send(packet)
+ message = struct.unpack("<f", esp32.recv())
+ #EConverter(boardAddress, message[0])
+ Eall.append(round(message[0],3))
+ #Eall.append(EConverter(ids[i], message[0]))
+ print(Eall)
+ else:
+ print("unrecognized")
+
+ elif inp[1] == "M":
+ ##################
+ ### MULTI-MOVE ###
+ ##################
+
+ #Get current joint positions:
+ Eall = []
+ validPosition = True
+ for i in range(len(ids)):
+ Eall_val = False
+ count = 0
+ while not Eall_val:
+ boardAddress = struct.pack("!B", ids[i])
+ packet = b"E"+boardAddress
+ esp32.send(packet)
+ message = struct.unpack("<f", esp32.recv())
+ if np.isnan(message[0]) == False :
+ Eall.append(round(message[0],3))
+ Eall_val = True
+ elif count > 5:
+ Eall_val = True
+ print(f"repeat E failure at {i}")
+ validPosition = False
+ else:
+ Eall_val = False
+ #print(type(message[0]))
+ count += 1
+ #print(f"E failure at '{i}' ")
+
+ if validPosition == True:
+ if len(inp) == 2:
+ #ORIGINAL IK BASED VERSION
+ print("og IK disabled")
+
+ elif len(inp) > 2:
+ #these are the base frames from drake.
+ # f000 = np.zeros(8) #flat
+ # fd = np.array([0,0,0,0,-1.55,-1.55,-1.55,-1.55]) #standing default
+ f000 = np.zeros(7) #straight up
+ f200 = np.array([ 1.05, 0.42, 0, 2.35, 0, 0.38, -5.23]) #x2, y0, z0
+ f210 = np.array([ 1.57, 0.49, 0, 2.21, 0, 0.45, -4.71])
+ f211 = np.array([ 1.57, 0. , 0, 2.21, 0, 0.92, -4.72])
+ f212 = np.array([ 1.57, -0.23, 0, 1.98, 0, 1.38, -4.71])
+ f213 = np.array([ 1.57, -0.22, 0, 1.57, 0, 1.78, -4.71])
+
+ # M:12:0,M:13:0,M:14:0,M:
+
+ if inp[2] == "FD" or inp[2] == "DF":
+
+ #flat to standing or standing to flat
+ ########
+ frames = [
+ f000,
+ fd
+ ]
+ x_values_forward, x_values_reversed, x_values_forward_B, x_values_reversed_B = getTrajectories(frames,tk=[0,1])
+ if inp[2] == "FD":
+ #step is x_values_forward
+ thetaDes_floats = []
+ for i in range(knots):
+ for j in range((len(mids)-gripper_amt)):
+ thetaDes_floats.append(round((x_values_forward[j][i])+position0[j],3))
+ print(inp[2])
+ # print(thetaDes_floats)
+ priorStep[1] = x_values_forward
+ thetaDes_bytes = b""
+ for i in thetaDes_floats:
+ thetaDes_bytes = thetaDes_bytes + struct.pack("@f", float(i))
+ #DON'T SEND TO ROBOT WHILE TESTING.
+ packet = b"C"+b"M"+numActuatorM+MidsBytes+thetaDes_bytes
+ esp32.send(packet)
+ priorStep[0] = True
+ elif inp[2] == "DF":
+ #this is front foot forward but the reverse step, ergo: x_values_reversed.
+ thetaDes_floats = []
+ for i in range(knots):
+ for j in range((len(mids)-gripper_amt)):
+ thetaDes_floats.append(round((x_values_reversed[j][i])+position0[j],3))
+ print(inp[2])
+ #print(thetaDes_floats)
+ priorStep[1] = x_values_reversed
+ thetaDes_bytes = b""
+ for i in thetaDes_floats:
+ thetaDes_bytes = thetaDes_bytes + struct.pack("@f", float(i))
+ #DON'T SEND TO ROBOT WHILE TESTING.
+ packet = b"C"+b"M"+numActuatorM+MidsBytes+thetaDes_bytes
+ esp32.send(packet)
+ priorStep[0] = True
+ else:
+ print("how?")
+ pass
+ elif inp[2] == "FU21" or inp[2] == "F21U":
+ #we go from tight, ie f100, to one space out, ie f200. B indicates the equivalent move with the backfoot.
+ frames = [
+ f000,
+ f213,
+ f212,
+ f200
+ ]
+ # if inp[2] == "BX12" or inp[2] == "BX21":
+ # frames = [
+ # f100,
+ # f101,
+ # f201+ np.array([-0.05,0,0,0,0,0]),
+ # f200 + np.array([-0.08,0,0,0,0,0])
+ # ]
+
+ x_values_forward, x_values_reversed, x_values_forward_B, x_values_reversed_B = getTrajectories(frames,tk=[0,1,2,3])
+
+ if inp[2] == "FU21":
+ #step is x_values_forward
+ thetaDes_floats = []
+ for i in range(knots):
+ for j in range((len(mids)-gripper_amt)):
+ thetaDes_floats.append(round((x_values_forward[j][i])+position0[j],3))
+ print("step FU21")
+ #print(thetaDes_floats)
+ priorStep[1] = x_values_forward
+ thetaDes_bytes = b""
+ for i in thetaDes_floats:
+ thetaDes_bytes = thetaDes_bytes + struct.pack("@f", float(i))
+ #DON'T SEND TO ROBOT WHILE TESTING.
+ packet = b"C"+b"M"+numActuatorM+MidsBytes+thetaDes_bytes
+ esp32.send(packet)
+ priorStep[0] = True
+ elif inp[2] == "F21U":
+ #this is front foot forward but the reverse step, ergo: x_values_reversed.
+ thetaDes_floats = []
+ for i in range(knots):
+ for j in range((len(mids)-gripper_amt)):
+ thetaDes_floats.append(round((x_values_reversed[j][i])+position0[j],3))
+ print("step FX21")
+ print(thetaDes_floats)
+ priorStep[1] = x_values_reversed
+ thetaDes_bytes = b""
+ for i in thetaDes_floats:
+ thetaDes_bytes = thetaDes_bytes + struct.pack("@f", float(i))
+ #DON'T SEND TO ROBOT WHILE TESTING.
+ packet = b"C"+b"M"+numActuatorM+MidsBytes+thetaDes_bytes
+ esp32.send(packet)
+ priorStep[0] = True
+
+ elif inp[2] == "S":
+ # print("a")
+ if len(inp) > 3:
+ repeats = int(inp[3])
+ else:
+ repeats = 1
+ with open('ant_paths/test2.npy', 'rb') as f:
+ steps = np.load(f)
+ path_length = steps.shape[0]
+ steps[:,4:] = -steps[:,4:]
+ # print(steps)
+ # print(path_length)
+ count = 0
+ with open('data.csv','w',newline='') as csvfile:
+ csv_writer = csv.writer(csvfile, delimiter=' ', quotechar='|', quoting=csv.QUOTE_MINIMAL)
+ for n in range(repeats):
+ print(n)
+ for l in range(path_length):
+ if l == (path_length - 1):
+ frames = [steps[l], steps[0],steps[0]]
+ else:
+ frames = [steps[l], steps[l+1],steps[l+1]]
+ x_values_forward, x_values_reversed, x_values_forward_B, x_values_reversed_B = getTrajectories(frames,tk=[0,1,1.55])
+ # print(l)
+ thetaDes_floats = []
+ for i in range(knots):
+ for j in range((len(mids)-gripper_amt)):
+ thetaDes_floats.append(round((x_values_forward[j][i])+position0[j],3))
+ # print(thetaDes_floats)
+ priorStep[1] = x_values_forward
+ thetaDes_bytes = b""
+ for i in thetaDes_floats:
+ thetaDes_bytes = thetaDes_bytes + struct.pack("@f", float(i))
+ #DON'T SEND TO ROBOT WHILE TESTING.
+ packet = b"C"+b"M"+numActuatorM+MidsBytes+thetaDes_bytes
+ esp32.send(packet)
+ priorStep[0] = True
+ # for t in range(1):
+ # euler = getEuler()
+ # accel = getAccel()
+ # print("E")
+ # print(euler)
+ # print("A")
+ # print(accel)
+ # count +=1
+ # print("n")
+ # print(n)
+ # print(count)
+ for t in range((knots)*path_length):
+ # print("E")
+ message = esp32.recv()
+ # print(message)
+ euler = []
+ for i in range(3):
+ euler.append(round(struct.unpack("<f",message[(i*4):(i*4 + 4)])[0],3))
+ # print(euler)
+ # print(esp32.recv())
+ # print("A")
+ message = esp32.recv()
+ accels = []
+ for i in range(3):
+ accels.append(round(struct.unpack("<f",message[(i*4):(i*4 + 4)])[0],3))
+ # print(accels)
+ feet = []
+ for i in range(4):
+ message = esp32.recv()
+ feet.append(round(struct.unpack("<f",message)[0],3))
+ new_row = euler + accels + feet
+ for i in new_row:
+ i = str(i)
+ csv_writer.writerow(new_row)
+ # print(esp32.recv())
+ # euler = getEuler()
+ # accel = getAccel()
+ # print("E")
+ # print(euler)
+ # print("A")
+ # print(accel)
+ # print(count)
+
+ elif inp[2] == "STAND":
+ frames = [
+ fd,
+ fd
+ ]
+ x_values_forward, x_values_reversed, x_values_forward_B, x_values_reversed_B = getTrajectories(frames,tk=[0,1])
+
+ #step is x_values_forward
+ thetaDes_floats = []
+ for i in range(knots):
+ for j in range((len(mids)-gripper_amt)):
+ thetaDes_floats.append(round((x_values_forward[j][i])+position0[j],3))
+ print(inp[2])
+ # print(thetaDes_floats)
+ priorStep[1] = x_values_forward
+ thetaDes_bytes = b""
+ for i in thetaDes_floats:
+ thetaDes_bytes = thetaDes_bytes + struct.pack("@f", float(i))
+ #DON'T SEND TO ROBOT WHILE TESTING.
+ packet = b"C"+b"M"+numActuatorM+MidsBytes+thetaDes_bytes
+ esp32.send(packet)
+ priorStep[0] = True
+
+ ###########
+ ### FIX ###
+ ###########
+ elif inp[2] == "FIX":
+ #DISABLED!!
+ if priorStep[0] == False:
+ print("no")
+ else:
+ x_values = priorStep[1]
+ thetaDes_floats=[]
+ temp_offset = np.zeros((len(ids)-gripper_amt))
+ if len(inp) > 3:
+ print("something")
+ changeAddr = int(int(inp[3])-9) #joint addresses start at 9
+ temp_offset[changeAddr] = float[inp[4]]
+ #inp[3] is address, inp[4] is offset amount
+ for i in range(knots-1,int(knots/4),-1):
+ for j in range((len(ids)-gripper_amt)):
+ thetaDes_floats.append(round((x_values[j][i])+position0[j+1]+temp_offset[j],3))
+ #add the reversed to go back down.
+ for i in range(int(knots/2),knots,1):
+ for j in range((len(ids)-gripper_amt)):
+ thetaDes_floats.append(round((x_values[j][i])+position0[j+1]+temp_offset[j],3))
+ thetaDes_bytes = b""
+ for i in thetaDes_floats:
+ thetaDes_bytes = thetaDes_bytes + struct.pack("@f", float(i))
+ #DON'T SEND TO ROBOT WHILE TESTING.
+ packet = b"C"+b"M"+numActuatorM+MidsBytes+thetaDes_bytes
+ # esp32.send(packet)
+ else:
+ print(":p")
+ ############################
+ else:
+ print("invalid joint positions, please re-try")
+ elif inp[1] == "U":
+ #THIS HAS BEEN DISABLED -- CHECK IF IT's STILL VALID
+ if priorStep[0] == True:
+ x_values = priorStep[1]
+ x_values_reversed = np.zeros(((len(ids)-gripper_amt),knots))
+ for i in range((len(ids)-gripper_amt)):
+ x_values_reversed[i][:] = np.flip(x_values[i])
+
+ thetaDes_floats = []
+ for i in range(knots):
+ for j in range((len(ids)-gripper_amt)):
+ thetaDes_floats.append(1.5*round((-1*x_values_reversed[j][i])-position0[j+1],3))
+
+ thetaDes_bytes = b""
+ for i in thetaDes_floats:
+ thetaDes_bytes = thetaDes_bytes + struct.pack("@f", float(i))
+ #DON'T SEND TO ROBOT WHILE TESTING.
+ packet = b"C"+b"M"+numActuatorM+MidsBytes+thetaDes_bytes
+ # esp32.send(packet)
+ print(thetaDes_floats)
+ priorStep[0] = False
+ else:
+ print("no prior step")
+ else:
+ print("invalid cmd")
+ elif inp[0] == "I":
+ #this isn't for the servo version but I'm scared to remove it.
+ newZero = input("input new absolute posiitons: " )
+ newZero = newZero.split(":")
+ for i in range(len(newZero)):
+ position0[i] = float(newZero[i])
+ print(position0)
+ elif inp[0] == "Q":
+ cont = False
+ print("yeeting")
+ else:
+ print("whomst?")
+
+ return cont
+
+def initialize(inputs):
+ inputs = inputs.translate({ord(c): None for c in string.whitespace})
+ pass
+
+while cont:
+ inputs = input(
+ "Single commands: CMD:Addr:DesVal or CMD:Addr. Multi-commands: C:CMD. Input: "
+ )
+ cont = parse_input(inputs, position0, priorStep)
\ No newline at end of file
diff --git a/Code/python/meshes_bille/gripper.mtl b/Code/python/meshes_bille/gripper.mtl
new file mode 100644
index 0000000..68afc6f
--- /dev/null
+++ b/Code/python/meshes_bille/gripper.mtl
@@ -0,0 +1,5 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+
diff --git a/Code/python/meshes_bille/gripper.obj b/Code/python/meshes_bille/gripper.obj
new file mode 100644
index 0000000..c717680
--- /dev/null
+++ b/Code/python/meshes_bille/gripper.obj
@@ -0,0 +1,74414 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib gripper.mtl
+
+g Body50
+
+v 0.036981 0.055551 0.030387
+v 0.039531 0.055551 0.030387
+v 0.039703 0.055561 0.030387
+v 0.039550 0.055495 0.030387
+v 0.038406 0.055446 0.030387
+v 0.040381 0.057602 0.030387
+v 0.040381 0.057868 0.030387
+v 0.040382 0.057734 0.030387
+v 0.040370 0.058289 0.030387
+v 0.040300 0.058664 0.030387
+v 0.040145 0.059172 0.030387
+v 0.039606 0.060449 0.030387
+v 0.039953 0.060095 0.030387
+v 0.040180 0.059583 0.030387
+v 0.039184 0.060604 0.030387
+v 0.037889 0.060604 0.030387
+v 0.038562 0.060642 0.030387
+v 0.036074 0.060604 0.030387
+v 0.034779 0.060604 0.030387
+v 0.035400 0.060642 0.030387
+v 0.034357 0.060449 0.030387
+v 0.033817 0.059171 0.030387
+v 0.033662 0.058663 0.030387
+v 0.033593 0.058289 0.030387
+v 0.033783 0.059583 0.030387
+v 0.034009 0.060095 0.030387
+v 0.033581 0.057868 0.030387
+v 0.033581 0.057602 0.030387
+v 0.033581 0.057734 0.030387
+v 0.034260 0.055561 0.030387
+v 0.034431 0.055551 0.030387
+v 0.035557 0.055446 0.030387
+v 0.034413 0.055495 0.030387
+v 0.036981 0.058922 0.033049
+v 0.035904 0.058955 0.033049
+v 0.035354 0.058972 0.033049
+v 0.034908 0.058872 0.033049
+v 0.034749 0.058752 0.033049
+v 0.034630 0.058588 0.033049
+v 0.034495 0.058150 0.033049
+v 0.034457 0.057015 0.033049
+v 0.034529 0.055878 0.033049
+v 0.034659 0.055433 0.033049
+v 0.034765 0.055263 0.033049
+v 0.034904 0.055136 0.033049
+v 0.035289 0.055015 0.033049
+v 0.035789 0.055018 0.033049
+v 0.036981 0.055108 0.033049
+v 0.038173 0.055018 0.033049
+v 0.038674 0.055015 0.033049
+v 0.039059 0.055136 0.033049
+v 0.039198 0.055263 0.033049
+v 0.039303 0.055433 0.033049
+v 0.039434 0.055878 0.033049
+v 0.039505 0.057015 0.033049
+v 0.039468 0.058150 0.033049
+v 0.039332 0.058588 0.033049
+v 0.039214 0.058752 0.033049
+v 0.039054 0.058872 0.033049
+v 0.038609 0.058972 0.033049
+v 0.038058 0.058955 0.033049
+v 0.038481 0.058500 0.033049
+v 0.038731 0.058433 0.033049
+v 0.038914 0.058250 0.033049
+v 0.038981 0.058000 0.033049
+v 0.038981 0.056000 0.033049
+v 0.038914 0.055750 0.033049
+v 0.038731 0.055567 0.033049
+v 0.038481 0.055500 0.033049
+v 0.035481 0.055500 0.033049
+v 0.035231 0.055567 0.033049
+v 0.035048 0.055750 0.033049
+v 0.034981 0.056000 0.033049
+v 0.034981 0.058000 0.033049
+v 0.035048 0.058250 0.033049
+v 0.035231 0.058433 0.033049
+v 0.035481 0.058500 0.033049
+v 0.036981 0.059763 0.031718
+v 0.036981 0.060604 0.030387
+v 0.036543 0.060582 0.030387
+v 0.033585 0.058082 0.030387
+v 0.033724 0.056340 0.030387
+v 0.033930 0.055871 0.030387
+v 0.036181 0.059763 0.031718
+v 0.034919 0.059766 0.031718
+v 0.034632 0.059660 0.031718
+v 0.034401 0.059459 0.031718
+v 0.034235 0.059177 0.031718
+v 0.034060 0.058434 0.031718
+v 0.034019 0.057441 0.031718
+v 0.034057 0.056532 0.031718
+v 0.034227 0.055784 0.031718
+v 0.034376 0.055529 0.031718
+v 0.034582 0.055348 0.031718
+v 0.035028 0.055221 0.031718
+v 0.035596 0.055226 0.031718
+v 0.040033 0.055871 0.030387
+v 0.040239 0.056340 0.030387
+v 0.040377 0.058082 0.030387
+v 0.037420 0.060582 0.030387
+v 0.037997 0.060195 0.031053
+v 0.037972 0.055375 0.031053
+v 0.037913 0.055268 0.031718
+v 0.038746 0.055211 0.031718
+v 0.039094 0.055244 0.031718
+v 0.039381 0.055348 0.031718
+v 0.039628 0.055585 0.031718
+v 0.039790 0.055931 0.031718
+v 0.039930 0.056855 0.031718
+v 0.039943 0.057441 0.031718
+v 0.039888 0.058547 0.031718
+v 0.039593 0.059418 0.031718
+v 0.039330 0.059660 0.031718
+v 0.038701 0.059806 0.031718
+v 0.037935 0.059775 0.031718
+v 0.038028 0.060405 0.030720
+v 0.038854 0.060430 0.030720
+v 0.039537 0.060252 0.030720
+v 0.039832 0.059973 0.030720
+v 0.040185 0.058988 0.030720
+v 0.040272 0.057761 0.030720
+v 0.040259 0.057121 0.030720
+v 0.040091 0.056127 0.030720
+v 0.039903 0.055759 0.030720
+v 0.039622 0.055508 0.030720
+v 0.039303 0.055398 0.030720
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+
+# 1 groups
diff --git a/Code/python/meshes_bille/motor_module_mesh_0.obj b/Code/python/meshes_bille/motor_module_mesh_0.obj
new file mode 100644
index 0000000..ce6a789
--- /dev/null
+++ b/Code/python/meshes_bille/motor_module_mesh_0.obj
@@ -0,0 +1,35796 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib d5075067-c6f8-4556-8525-acc7be59ed40.mtl
+
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+# 5130 vertices
+# 10415 texture params
+# 9790 normals
+# 10448 facets
+
+# 1 groups
diff --git a/Code/python/meshes_bille/passive.obj b/Code/python/meshes_bille/passive.obj
new file mode 100644
index 0000000..1978760
--- /dev/null
+++ b/Code/python/meshes_bille/passive.obj
@@ -0,0 +1,37055 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib passive_double_stack_weld.mtl
+
+g passive_double_stack_weld
+
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+# 1 groups
diff --git a/Code/python/meshes_bille/passive_double_stack_weld.mtl b/Code/python/meshes_bille/passive_double_stack_weld.mtl
new file mode 100644
index 0000000..68afc6f
--- /dev/null
+++ b/Code/python/meshes_bille/passive_double_stack_weld.mtl
@@ -0,0 +1,5 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+
diff --git a/Code/python/meshes_bille/visual_motor_module.mtl b/Code/python/meshes_bille/visual_motor_module.mtl
new file mode 100644
index 0000000..68afc6f
--- /dev/null
+++ b/Code/python/meshes_bille/visual_motor_module.mtl
@@ -0,0 +1,5 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+
diff --git a/Code/python/meshes_bille/visual_motor_module.obj b/Code/python/meshes_bille/visual_motor_module.obj
new file mode 100644
index 0000000..0efaf95
--- /dev/null
+++ b/Code/python/meshes_bille/visual_motor_module.obj
@@ -0,0 +1,30692 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib visual_motor_module.mtl
+
+g visual_motor_module
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+f 2680/8845/8209 4207/8870/8232 4206/8846/8210
+# 4463 vertices
+# 8870 texture params
+# 8232 normals
+# 9114 facets
+
+# 1 groups
diff --git a/Code/python/meshes_bille/visual_motor_module_meter.mtl b/Code/python/meshes_bille/visual_motor_module_meter.mtl
new file mode 100644
index 0000000..68afc6f
--- /dev/null
+++ b/Code/python/meshes_bille/visual_motor_module_meter.mtl
@@ -0,0 +1,5 @@
+# WaveFront *.mtl file (generated by Autodesk ATF)
+
+newmtl Steel_-_Satin
+Kd 0.627451 0.627451 0.627451
+
diff --git a/Code/python/meshes_bille/visual_motor_module_meter.obj b/Code/python/meshes_bille/visual_motor_module_meter.obj
new file mode 100644
index 0000000..69ac5c1
--- /dev/null
+++ b/Code/python/meshes_bille/visual_motor_module_meter.obj
@@ -0,0 +1,30692 @@
+# WaveFront *.obj file (generated by Autodesk ATF)
+
+mtllib visual_motor_module_meter.mtl
+
+g visual_motor_module
+
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+# 4463 vertices
+# 8870 texture params
+# 8232 normals
+# 9114 facets
+
+# 1 groups
diff --git a/README.md b/README.md
index 0c0e037..2f3a7f5 100644
--- a/README.md
+++ b/README.md
@@ -1,93 +1,7 @@
# MILAbot-v0
+We present the Modular Inchworm Lattice Assembler: a Low-Cost Robotic Platform for Discrete Assembly (aka MILAbot). This system is the newest in the generation of voxel-assembly relative robots, such as [BILL-E](https://cba.mit.edu/docs/papers/19.07.materialrobot.pdf), [exponential BILL-Es](https://cba.mit.edu/docs/papers/22.11.Nature.pdf), and [recursive BILL-E](https://cba.mit.edu/docs/theses/23.06.smith.pdf). The goal of this work is to better enable large-scale, self-reconfigurable, distributed robotic construction of discrete structural feed- stocks by increasing robot flexibility while simplifying system architecture and lowering cost.
+This repo contains all design files and code for the MILAbot, which is potentially usable for tasks beyond voxel assembly (the base 5-dof robot has sub 3 mm repeatability).
-## Getting started
-
-To make it easy for you to get started with GitLab, here's a list of recommended next steps.
-
-Already a pro? Just edit this README.md and make it your own. Want to make it easy? [Use the template at the bottom](#editing-this-readme)!
-
-## Add your files
-
-- [ ] [Create](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#create-a-file) or [upload](https://docs.gitlab.com/ee/user/project/repository/web_editor.html#upload-a-file) files
-- [ ] [Add files using the command line](https://docs.gitlab.com/ee/gitlab-basics/add-file.html#add-a-file-using-the-command-line) or push an existing Git repository with the following command:
-
-```
-cd existing_repo
-git remote add origin https://gitlab.cba.mit.edu/miana/milabot-v0.git
-git branch -M main
-git push -uf origin main
-```
-
-## Integrate with your tools
-
-- [ ] [Set up project integrations](https://gitlab.cba.mit.edu/miana/milabot-v0/-/settings/integrations)
-
-## Collaborate with your team
-
-- [ ] [Invite team members and collaborators](https://docs.gitlab.com/ee/user/project/members/)
-- [ ] [Create a new merge request](https://docs.gitlab.com/ee/user/project/merge_requests/creating_merge_requests.html)
-- [ ] [Automatically close issues from merge requests](https://docs.gitlab.com/ee/user/project/issues/managing_issues.html#closing-issues-automatically)
-- [ ] [Enable merge request approvals](https://docs.gitlab.com/ee/user/project/merge_requests/approvals/)
-- [ ] [Set auto-merge](https://docs.gitlab.com/ee/user/project/merge_requests/merge_when_pipeline_succeeds.html)
-
-## Test and Deploy
-
-Use the built-in continuous integration in GitLab.
-
-- [ ] [Get started with GitLab CI/CD](https://docs.gitlab.com/ee/ci/quick_start/index.html)
-- [ ] [Analyze your code for known vulnerabilities with Static Application Security Testing (SAST)](https://docs.gitlab.com/ee/user/application_security/sast/)
-- [ ] [Deploy to Kubernetes, Amazon EC2, or Amazon ECS using Auto Deploy](https://docs.gitlab.com/ee/topics/autodevops/requirements.html)
-- [ ] [Use pull-based deployments for improved Kubernetes management](https://docs.gitlab.com/ee/user/clusters/agent/)
-- [ ] [Set up protected environments](https://docs.gitlab.com/ee/ci/environments/protected_environments.html)
-
-***
-
-# Editing this README
-
-When you're ready to make this README your own, just edit this file and use the handy template below (or feel free to structure it however you want - this is just a starting point!). Thanks to [makeareadme.com](https://www.makeareadme.com/) for this template.
-
-## Suggestions for a good README
-
-Every project is different, so consider which of these sections apply to yours. The sections used in the template are suggestions for most open source projects. Also keep in mind that while a README can be too long and detailed, too long is better than too short. If you think your README is too long, consider utilizing another form of documentation rather than cutting out information.
-
-## Name
-Choose a self-explaining name for your project.
-
-## Description
-Let people know what your project can do specifically. Provide context and add a link to any reference visitors might be unfamiliar with. A list of Features or a Background subsection can also be added here. If there are alternatives to your project, this is a good place to list differentiating factors.
-
-## Badges
-On some READMEs, you may see small images that convey metadata, such as whether or not all the tests are passing for the project. You can use Shields to add some to your README. Many services also have instructions for adding a badge.
-
-## Visuals
-Depending on what you are making, it can be a good idea to include screenshots or even a video (you'll frequently see GIFs rather than actual videos). Tools like ttygif can help, but check out Asciinema for a more sophisticated method.
-
-## Installation
-Within a particular ecosystem, there may be a common way of installing things, such as using Yarn, NuGet, or Homebrew. However, consider the possibility that whoever is reading your README is a novice and would like more guidance. Listing specific steps helps remove ambiguity and gets people to using your project as quickly as possible. If it only runs in a specific context like a particular programming language version or operating system or has dependencies that have to be installed manually, also add a Requirements subsection.
-
-## Usage
-Use examples liberally, and show the expected output if you can. It's helpful to have inline the smallest example of usage that you can demonstrate, while providing links to more sophisticated examples if they are too long to reasonably include in the README.
-
-## Support
-Tell people where they can go to for help. It can be any combination of an issue tracker, a chat room, an email address, etc.
-
-## Roadmap
-If you have ideas for releases in the future, it is a good idea to list them in the README.
-
-## Contributing
-State if you are open to contributions and what your requirements are for accepting them.
-
-For people who want to make changes to your project, it's helpful to have some documentation on how to get started. Perhaps there is a script that they should run or some environment variables that they need to set. Make these steps explicit. These instructions could also be useful to your future self.
-
-You can also document commands to lint the code or run tests. These steps help to ensure high code quality and reduce the likelihood that the changes inadvertently break something. Having instructions for running tests is especially helpful if it requires external setup, such as starting a Selenium server for testing in a browser.
-
-## Authors and acknowledgment
-Show your appreciation to those who have contributed to the project.
-
-## License
-For open source projects, say how it is licensed.
-
-## Project status
-If you have run out of energy or time for your project, put a note at the top of the README saying that development has slowed down or stopped completely. Someone may choose to fork your project or volunteer to step in as a maintainer or owner, allowing your project to keep going. You can also make an explicit request for maintainers.
+Hardware files are in the Hardware directory, PCB files are in Electronics, and firmware and software is in Code. The hardware files are provided as .step and .stl files, and the PCB designs are provided as .brd and .sch files. These are both originally designed in Fusion 360. The firmware is written using either the Arduino IDE or PlatformIO, so there are some little differences in the code. The motor driver code primarily leverages [SimpleFOC](https://simplefoc.com/). The path planning for the robot is done with [pyDrake](https://drake.mit.edu/pydrake/).
\ No newline at end of file
--
GitLab