From b9b13887e31400e0a0fa1ffbd8a3a885ff2066c2 Mon Sep 17 00:00:00 2001 From: m-guberina <gubi.guberina@gmail.com> Date: Wed, 8 Nov 2023 18:53:09 +0100 Subject: [PATCH] some progress --- clik/clik.py | 11 +- dmp/foo.csv | 50 - .../drawing_gen/.cliking_the_path.py.swp | Bin 16384 -> 16384 bytes dmp/my_sol/drawing_gen/cliking_the_path.py | 30 +- dmp/my_sol/drawing_gen/path_in_pixels.csv | 395 +++-- dmp/my_sol/new_traj.csv | 1385 ++++++++--------- dmp/my_sol/run_dmp.py | 3 + ...ve_me_the_calibrated_model.cpython-310.pyc | Bin 1762 -> 1595 bytes .../robotiq_gripper.cpython-310.pyc | Bin 0 -> 12223 bytes util/calib_board_hacks.py | 70 + util/freedrive.py | 2 +- util/give_me_the_calibrated_model.py | 6 +- util/measuring_stick.py | 7 +- util/open_close_gripper.py | 25 + util/robotiq_gripper.py | 291 ++++ 15 files changed, 1236 insertions(+), 1039 deletions(-) delete mode 100644 dmp/foo.csv rename robot_descriptions/urdf/.ur5e_with_robotiq_hande_CALIBRATED.urdf.swp => dmp/my_sol/drawing_gen/.cliking_the_path.py.swp (54%) create mode 100644 util/__pycache__/robotiq_gripper.cpython-310.pyc create mode 100644 util/calib_board_hacks.py create mode 100644 util/open_close_gripper.py create mode 100644 util/robotiq_gripper.py diff --git a/clik/clik.py b/clik/clik.py index a65e873..38a3b7e 100644 --- a/clik/clik.py +++ b/clik/clik.py @@ -13,8 +13,8 @@ from robotiq_gripper import RobotiqGripper import os import copy import signal -sys.path.insert(0, '..') -from util.give_me_the_calibrated_model import get_model +sys.path.insert(0, '../util') +from give_me_the_calibrated_model import get_model #SIMULATION = True SIMULATION = False @@ -28,7 +28,11 @@ PINOCCHIO_ONLY = False #time.sleep(3) # load model -model, data = get_model() +urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf" +urdf_path_absolute = os.path.abspath(urdf_path_relative) +mesh_dir = "../robot_descriptions/" +mesh_dir_absolute = os.path.abspath(mesh_dir) +model, data = get_model(urdf_path_absolute, mesh_dir_absolute) #load gripper @@ -80,7 +84,6 @@ rtde_io.setSpeedSlider(0.5) def handler(signum, frame): print('sending 100 speedjs full of zeros') for i in range(100): - rtde_control.endFreedriveMode() vel_cmd = np.zeros(6) rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500) exit() diff --git a/dmp/foo.csv b/dmp/foo.csv deleted file mode 100644 index 68f7d86..0000000 --- a/dmp/foo.csv +++ /dev/null @@ -1,50 +0,0 @@ -0.00000,1.00000 -2.00000,3.00000 -4.00000,5.00000 -6.00000,7.00000 -8.00000,9.00000 -10.00000,11.00000 -12.00000,13.00000 -14.00000,15.00000 -16.00000,17.00000 -18.00000,19.00000 -20.00000,21.00000 -22.00000,23.00000 -24.00000,25.00000 -26.00000,27.00000 -28.00000,29.00000 -30.00000,31.00000 -32.00000,33.00000 -34.00000,35.00000 -36.00000,37.00000 -38.00000,39.00000 -40.00000,41.00000 -42.00000,43.00000 -44.00000,45.00000 -46.00000,47.00000 -48.00000,49.00000 -50.00000,51.00000 -52.00000,53.00000 -54.00000,55.00000 -56.00000,57.00000 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b/dmp/my_sol/drawing_gen/cliking_the_path.py @@ -3,15 +3,15 @@ # this files results in a timed joint path # STEP 1: map the pixels to a 3D plane - # STEP 2: clik that path - # STEP 3: put result into csv (but also save it in a convenient class/array here) - import numpy as np import pinocchio as pin import os +import sys +sys.path.insert(0, '../../../util') +from give_me_the_calibrated_model import get_model ####################################################################### # STEP 1: map the pixels to a 3D plane # @@ -50,11 +50,13 @@ path[:,1] = path[:,1] * board_height # TODO write some algorithm to do this automatically, this is asinine # (in pin coordinates, real ones are [-x, -y, z]) # UPPER LEFT POINT -R = np.array([[ -0.999451, -0.0284345, 0.0169942], - [ -0.0330578, 0.889025, -0.456663], - [ -0.00212333, -0.456974, -0.889477]]) +# 0.1065, 0.7083, 0.6362, -2.6137, -0.0248, -0.0033 +rpy = np.array([-2.6137, -0.0248, -0.0033]) +R = pin.rpy.rpyToMatrix(rpy) +print(R) +#R = np.eye(3) # change +/- stuff if you go the other way idk or c lmao -p = np.array([-0.113205, -0.71668, 0.638377]) +p = np.array([0.1065, 0.7083, 0.6362]) transf_body_to_board = pin.SE3(R, p) # LOWER LEFT POINT @@ -73,7 +75,7 @@ transf_body_to_board = pin.SE3(R, p) #0.00980125 0.816329 -0.577504 # 0.0382838 -0.577415 -0.815553 # p = -0.595579 -0.373942 0.413703 -path = path + np.array([0.0, 0.0, -0.1]) +path = path + np.array([0.0, 0.0, -0.0838]) for i in range(len(path)): path[i] = transf_body_to_board.act(path[i]) #print(path) @@ -84,27 +86,26 @@ for i in range(len(path)): # STEP 2: clik that path # ####################################################################### - urdf_path_relative = "../../../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf" urdf_path_absolute = os.path.abspath(urdf_path_relative) mesh_dir = "../../../robot_descriptions/" mesh_dir_absolute = os.path.abspath(mesh_dir) -model = pin.buildModelFromUrdf(urdf_path_absolute) -data = pin.Data(model) -#print(model) +model, data = get_model(urdf_path_absolute, mesh_dir_absolute) # clik it JOINT_ID = 6 eps = 10**-2 dt = 0.01 # skip inital pos tho -q = np.array([-2.035, -1.371, 1.146, -2.071, -1.376, 0.048, 0.0, 0.0]) +q = np.array([-2.256,-1.408,0.955,-1.721,-1.405,-0.31, 0.0, 0.0]) INIT_ITER = 10000 n_iter = INIT_ITER RUNNING_ITER = 1000 qs = [] for goal in path: - Mgoal = pin.SE3(np.zeros((3,3)), goal) + # there's no orientation error (you do need it lmao) + #Mgoal = pin.SE3(np.zeros((3,3)), goal) + Mgoal = pin.SE3(R, goal) for i in range(n_iter): pin.forwardKinematics(model, data, q) SEerror = data.oMi[JOINT_ID].actInv(Mgoal) @@ -115,6 +116,7 @@ for goal in path: break J = pin.computeJointJacobian(model, data, q, JOINT_ID) v = J.T @ np.linalg.inv(J @ J.T + np.eye(J.shape[0], J.shape[0]) * 10**-2) @ err_vector + #v = J.T @ err_vector q = pin.integrate(model, q, v * dt) if (not n_iter == INIT_ITER) and (i % 10 == 0): qs.append(q[:6]) diff --git 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rtde_control import RTDEControlInterface as RTDEControl from rtde_receive import RTDEReceiveInterface as RTDEReceive +from rtde_io import RTDEIOInterface from robotiq_gripper import RobotiqGripper from temporal_coupling import NoTC, TCVelAccConstrained import pinocchio as pin @@ -27,6 +28,8 @@ import matplotlib.pyplot as plt rtde_control = RTDEControl("192.168.1.102") rtde_receive = RTDEReceive("192.168.1.102") +rtde_io = RTDEIOInterface("192.168.1.102") +rtde_io.setSpeedSlider(0.7) # run if marker isn't gripped #gripper = RobotiqGripper() diff --git a/util/__pycache__/give_me_the_calibrated_model.cpython-310.pyc b/util/__pycache__/give_me_the_calibrated_model.cpython-310.pyc index cf70b7fc8e60ff75b0bf65f43c6951ed6ef4ead4..cfab0f627e61c0c5f90ce585743a40adb0c59558 100644 GIT binary patch delta 611 zcmaFFyPJnEpO=@5fq{X+c$s%<Dd$AK=6WU&7mCFg7#LU?7#N%x7#NBx7#SE!7#1+5 zGo&ysVqC~r%LL^yfqBd&ObeJxn6g+Fu+}gyWUOIY$W+S$Rly8a!3yQEfO%|4>e&`D 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import dirname, join, abspath +import time +from pinocchio.visualize import GepettoVisualizer +import gepetto.corbaserver +from rtde_control import RTDEControlInterface as RTDEControl +from rtde_receive import RTDEReceiveInterface as RTDEReceive +import os +import copy +import signal +from give_me_the_calibrated_model import get_model + +def handler(signum, frame): + print('sending 100 speedjs full of zeros') + for i in range(100): + vel_cmd = np.zeros(6) + rtde_control.speedJ(vel_cmd, 0.1, 1.0 / 500) + exit() + + +rtde_control = RTDEControl("192.168.1.102") +rtde_receive = RTDEReceive("192.168.1.102") +while not rtde_control.isConnected(): + continue +print("connected") + +signal.signal(signal.SIGINT, handler) + +urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf" +urdf_path_absolute = os.path.abspath(urdf_path_relative) +mesh_dir = "../robot_descriptions/" +mesh_dir_absolute = os.path.abspath(mesh_dir) +model, data = get_model(urdf_path_absolute, mesh_dir_absolute) + +init_pose = rtde_receive.getActualTCPPose() +new_pose = copy.deepcopy(init_pose) +# dangerous +#new_pose[3] = 0 +#new_pose[4] = 0 +#new_pose[5] = 0 +#rtde_control.moveL(new_pose) +#exit() + +# TODO change this, i just shoved the pen through the board +speed = [0, 0, -0.05, 0, 0, 0] +for i in range(3): + rtde_control.moveUntilContact(speed) + print("ur5:", *np.array(rtde_receive.getActualTCPPose()).round(4)) + init_pose = rtde_receive.getActualTCPPose() + new_pose = copy.deepcopy(init_pose) + new_pose[2] -= 0.1 + rtde_control.moveL(new_pose) + new_pose[1] += 0.1 + rtde_control.moveL(new_pose) + +exit() + +while True: + q = rtde_receive.getActualQ() + q.append(0.0) + q.append(0.0) + pin.forwardKinematics(model, data, np.array(q)) + print("pin:", *data.oMi[6].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4)) + print("pin:", *data.oMi[7].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4)) + print("pin:", *data.oMi[8].translation.round(4), *pin.rpy.matrixToRpy(data.oMi[6].rotation).round(4)) + print("ur5:", *np.array(rtde_receive.getActualTCPPose()).round(4)) + time.sleep(0.005) diff --git a/util/freedrive.py b/util/freedrive.py index 53cc81d..e2f1b8c 100644 --- a/util/freedrive.py +++ b/util/freedrive.py @@ -24,5 +24,5 @@ signal.signal(signal.SIGINT, handler) while True: q = rtde_receive.getActualQ() q = np.array(q) - print(q.round(3)) + print(*q.round(3), sep=', ') time.sleep(0.005) diff --git a/util/give_me_the_calibrated_model.py b/util/give_me_the_calibrated_model.py index 26c947e..f5ea332 100644 --- a/util/give_me_the_calibrated_model.py +++ b/util/give_me_the_calibrated_model.py @@ -13,7 +13,7 @@ from os.path import dirname, join, abspath #viz.initViewer() #viz.loadViewerModel() -def get_model(): +def get_model(urdf_path_absolute, mesh_dir_absolute): shoulder_trans = np.array([0, 0, 0.1625134425523304]) shoulder_rpy = np.array([-0, 0, 5.315711138647629e-08]) @@ -39,10 +39,6 @@ def get_model(): wrist_3_rpy = np.array([1.572215514545703, 3.141592653589793, 3.141592633687631]) wrist_3_se3 = pin.SE3(pin.rpy.rpyToMatrix(wrist_3_rpy),wrist_3_trans) - urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf" - urdf_path_absolute = os.path.abspath(urdf_path_relative) - mesh_dir = "../robot_descriptions/" - mesh_dir_absolute = os.path.abspath(mesh_dir) model = pin.buildModelFromUrdf(urdf_path_absolute) model.jointPlacements[1] = shoulder_se3 model.jointPlacements[2] = upper_arm_se3 diff --git a/util/measuring_stick.py b/util/measuring_stick.py index 5bedd2c..83737cf 100644 --- a/util/measuring_stick.py +++ b/util/measuring_stick.py @@ -28,8 +28,11 @@ print("connected") rtde_control.freedriveMode() signal.signal(signal.SIGINT, handler) - -model, data = get_model() +urdf_path_relative = "../robot_descriptions/urdf/ur5e_with_robotiq_hande.urdf" +urdf_path_absolute = os.path.abspath(urdf_path_relative) +mesh_dir = "../robot_descriptions/" +mesh_dir_absolute = os.path.abspath(mesh_dir) +model, data = get_model(urdf_path_absolute, mesh_dir_absolute) while True: q = rtde_receive.getActualQ() diff --git a/util/open_close_gripper.py b/util/open_close_gripper.py new file mode 100644 index 0000000..023b319 --- /dev/null +++ b/util/open_close_gripper.py @@ -0,0 +1,25 @@ +from rtde_control import RTDEControlInterface as RTDEControl +from rtde_receive import RTDEReceiveInterface as RTDEReceive +from rtde_io import RTDEIOInterface +from robotiq_gripper import RobotiqGripper +import pinocchio as pin +import numpy as np +import os +import time +import signal +import matplotlib.pyplot as plt + + +def handler(signum, frame): + gripper.move(255,100,100) + time.sleep(3) + exit() + +signal.signal(signal.SIGINT, handler) + +gripper = RobotiqGripper() +gripper.connect("192.168.1.102", 63352) +gripper.activate() +time.sleep(3) +gripper.move(0,100,100) +time.sleep(300) diff --git a/util/robotiq_gripper.py b/util/robotiq_gripper.py new file mode 100644 index 0000000..a17ab18 --- /dev/null +++ b/util/robotiq_gripper.py @@ -0,0 +1,291 @@ +"""Module to control Robotiq's grippers - tested with HAND-E""" + +import socket +import threading +import time +from enum import Enum +from typing import Union, Tuple, OrderedDict + +class RobotiqGripper: + """ + Communicates with the gripper directly, via socket with string commands, leveraging string names for variables. + """ + # WRITE VARIABLES (CAN ALSO READ) + ACT = 'ACT' # act : activate (1 while activated, can be reset to clear fault status) + GTO = 'GTO' # gto : go to (will perform go to with the actions set in pos, for, spe) + ATR = 'ATR' # atr : auto-release (emergency slow move) + ADR = 'ADR' # adr : auto-release direction (open(1) or close(0) during auto-release) + FOR = 'FOR' # for : force (0-255) + SPE = 'SPE' # spe : speed (0-255) + POS = 'POS' # pos : position (0-255), 0 = open + # READ VARIABLES + STA = 'STA' # status (0 = is reset, 1 = activating, 3 = active) + PRE = 'PRE' # position request (echo of last commanded position) + OBJ = 'OBJ' # object detection (0 = moving, 1 = outer grip, 2 = inner grip, 3 = no object at rest) + FLT = 'FLT' # fault (0=ok, see manual for errors if not zero) + + ENCODING = 'UTF-8' # ASCII and UTF-8 both seem to work + + class GripperStatus(Enum): + """Gripper status reported by the gripper. The integer values have to match what the gripper sends.""" + RESET = 0 + ACTIVATING = 1 + # UNUSED = 2 # This value is currently not used by the gripper firmware + ACTIVE = 3 + + class ObjectStatus(Enum): + """Object status reported by the gripper. The integer values have to match what the gripper sends.""" + MOVING = 0 + STOPPED_OUTER_OBJECT = 1 + STOPPED_INNER_OBJECT = 2 + AT_DEST = 3 + + def __init__(self): + """Constructor.""" + self.socket = None + self.command_lock = threading.Lock() + self._min_position = 0 + self._max_position = 255 + self._min_speed = 0 + self._max_speed = 255 + self._min_force = 0 + self._max_force = 255 + + def connect(self, hostname: str, port: int, socket_timeout: float = 2.0) -> None: + """Connects to a gripper at the given address. + :param hostname: Hostname or ip. + :param port: Port. + :param socket_timeout: Timeout for blocking socket operations. + """ + self.socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM) + self.socket.connect((hostname, port)) + self.socket.settimeout(socket_timeout) + + def disconnect(self) -> None: + """Closes the connection with the gripper.""" + self.socket.close() + + def _set_vars(self, var_dict: OrderedDict[str, Union[int, float]]): + """Sends the appropriate command via socket to set the value of n variables, and waits for its 'ack' response. + :param var_dict: Dictionary of variables to set (variable_name, value). + :return: True on successful reception of ack, false if no ack was received, indicating the set may not + have been effective. + """ + # construct unique command + cmd = "SET" + for variable, value in var_dict.items(): + cmd += f" {variable} {str(value)}" + cmd += '\n' # new line is required for the command to finish + # atomic commands send/rcv + with self.command_lock: + self.socket.sendall(cmd.encode(self.ENCODING)) + data = self.socket.recv(1024) + return self._is_ack(data) + + def _set_var(self, variable: str, value: Union[int, float]): + """Sends the appropriate command via socket to set the value of a variable, and waits for its 'ack' response. + :param variable: Variable to set. + :param value: Value to set for the variable. + :return: True on successful reception of ack, false if no ack was received, indicating the set may not + have been effective. + """ + return self._set_vars(OrderedDict([(variable, value)])) + + def _get_var(self, variable: str): + """Sends the appropriate command to retrieve the value of a variable from the gripper, blocking until the + response is received or the socket times out. + :param variable: Name of the variable to retrieve. + :return: Value of the variable as integer. + """ + # atomic commands send/rcv + with self.command_lock: + cmd = f"GET {variable}\n" + self.socket.sendall(cmd.encode(self.ENCODING)) + data = self.socket.recv(1024) + + # expect data of the form 'VAR x', where VAR is an echo of the variable name, and X the value + # note some special variables (like FLT) may send 2 bytes, instead of an integer. We assume integer here + var_name, value_str = data.decode(self.ENCODING).split() + if var_name != variable: + raise ValueError(f"Unexpected response {data} ({data.decode(self.ENCODING)}): does not match '{variable}'") + value = int(value_str) + return value + + @staticmethod + def _is_ack(data: str): + return data == b'ack' + + def _reset(self): + """ + Reset the gripper. + The following code is executed in the corresponding script function + def rq_reset(gripper_socket="1"): + rq_set_var("ACT", 0, gripper_socket) + rq_set_var("ATR", 0, gripper_socket) + + while(not rq_get_var("ACT", 1, gripper_socket) == 0 or not rq_get_var("STA", 1, gripper_socket) == 0): + rq_set_var("ACT", 0, gripper_socket) + rq_set_var("ATR", 0, gripper_socket) + sync() + end + + sleep(0.5) + end + """ + self._set_var(self.ACT, 0) + self._set_var(self.ATR, 0) + while (not self._get_var(self.ACT) == 0 or not self._get_var(self.STA) == 0): + self._set_var(self.ACT, 0) + self._set_var(self.ATR, 0) + time.sleep(0.5) + + + def activate(self, auto_calibrate: bool = True): + """Resets the activation flag in the gripper, and sets it back to one, clearing previous fault flags. + :param auto_calibrate: Whether to calibrate the minimum and maximum positions based on actual motion. + The following code is executed in the corresponding script function + def rq_activate(gripper_socket="1"): + if (not rq_is_gripper_activated(gripper_socket)): + rq_reset(gripper_socket) + + while(not rq_get_var("ACT", 1, gripper_socket) == 0 or not rq_get_var("STA", 1, gripper_socket) == 0): + rq_reset(gripper_socket) + sync() + end + + rq_set_var("ACT",1, gripper_socket) + end + end + def rq_activate_and_wait(gripper_socket="1"): + if (not rq_is_gripper_activated(gripper_socket)): + rq_activate(gripper_socket) + sleep(1.0) + + while(not rq_get_var("ACT", 1, gripper_socket) == 1 or not rq_get_var("STA", 1, gripper_socket) == 3): + sleep(0.1) + end + + sleep(0.5) + end + end + """ + if not self.is_active(): + self._reset() + while (not self._get_var(self.ACT) == 0 or not self._get_var(self.STA) == 0): + time.sleep(0.01) + + self._set_var(self.ACT, 1) + time.sleep(1.0) + while (not self._get_var(self.ACT) == 1 or not self._get_var(self.STA) == 3): + time.sleep(0.01) + + # auto-calibrate position range if desired + if auto_calibrate: + self.auto_calibrate() + + def is_active(self): + """Returns whether the gripper is active.""" + status = self._get_var(self.STA) + return RobotiqGripper.GripperStatus(status) == RobotiqGripper.GripperStatus.ACTIVE + + def get_min_position(self) -> int: + """Returns the minimum position the gripper can reach (open position).""" + return self._min_position + + def get_max_position(self) -> int: + """Returns the maximum position the gripper can reach (closed position).""" + return self._max_position + + def get_open_position(self) -> int: + """Returns what is considered the open position for gripper (minimum position value).""" + return self.get_min_position() + + def get_closed_position(self) -> int: + """Returns what is considered the closed position for gripper (maximum position value).""" + return self.get_max_position() + + def is_open(self): + """Returns whether the current position is considered as being fully open.""" + return self.get_current_position() <= self.get_open_position() + + def is_closed(self): + """Returns whether the current position is considered as being fully closed.""" + return self.get_current_position() >= self.get_closed_position() + + def get_current_position(self) -> int: + """Returns the current position as returned by the physical hardware.""" + return self._get_var(self.POS) + + def auto_calibrate(self, log: bool = True) -> None: + """Attempts to calibrate the open and closed positions, by slowly closing and opening the gripper. + :param log: Whether to print the results to log. + """ + # first try to open in case we are holding an object + (position, status) = self.move_and_wait_for_pos(self.get_open_position(), 64, 1) + if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST: + raise RuntimeError(f"Calibration failed opening to start: {str(status)}") + + # try to close as far as possible, and record the number + (position, status) = self.move_and_wait_for_pos(self.get_closed_position(), 64, 1) + if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST: + raise RuntimeError(f"Calibration failed because of an object: {str(status)}") + assert position <= self._max_position + self._max_position = position + + # try to open as far as possible, and record the number + (position, status) = self.move_and_wait_for_pos(self.get_open_position(), 64, 1) + if RobotiqGripper.ObjectStatus(status) != RobotiqGripper.ObjectStatus.AT_DEST: + raise RuntimeError(f"Calibration failed because of an object: {str(status)}") + assert position >= self._min_position + self._min_position = position + + if log: + print(f"Gripper auto-calibrated to [{self.get_min_position()}, {self.get_max_position()}]") + + def move(self, position: int, speed: int, force: int) -> Tuple[bool, int]: + """Sends commands to start moving towards the given position, with the specified speed and force. + :param position: Position to move to [min_position, max_position] + :param speed: Speed to move at [min_speed, max_speed] + :param force: Force to use [min_force, max_force] + :return: A tuple with a bool indicating whether the action it was successfully sent, and an integer with + the actual position that was requested, after being adjusted to the min/max calibrated range. + """ + + def clip_val(min_val, val, max_val): + return max(min_val, min(val, max_val)) + + clip_pos = clip_val(self._min_position, position, self._max_position) + clip_spe = clip_val(self._min_speed, speed, self._max_speed) + clip_for = clip_val(self._min_force, force, self._max_force) + + # moves to the given position with the given speed and force + var_dict = OrderedDict([(self.POS, clip_pos), (self.SPE, clip_spe), (self.FOR, clip_for), (self.GTO, 1)]) + return self._set_vars(var_dict), clip_pos + + def move_and_wait_for_pos(self, position: int, speed: int, force: int) -> Tuple[int, ObjectStatus]: # noqa + """Sends commands to start moving towards the given position, with the specified speed and force, and + then waits for the move to complete. + :param position: Position to move to [min_position, max_position] + :param speed: Speed to move at [min_speed, max_speed] + :param force: Force to use [min_force, max_force] + :return: A tuple with an integer representing the last position returned by the gripper after it notified + that the move had completed, a status indicating how the move ended (see ObjectStatus enum for details). Note + that it is possible that the position was not reached, if an object was detected during motion. + """ + set_ok, cmd_pos = self.move(position, speed, force) + if not set_ok: + raise RuntimeError("Failed to set variables for move.") + + # wait until the gripper acknowledges that it will try to go to the requested position + while self._get_var(self.PRE) != cmd_pos: + time.sleep(0.001) + + # wait until not moving + cur_obj = self._get_var(self.OBJ) + while RobotiqGripper.ObjectStatus(cur_obj) == RobotiqGripper.ObjectStatus.MOVING: + cur_obj = self._get_var(self.OBJ) + + # report the actual position and the object status + final_pos = self._get_var(self.POS) + final_obj = cur_obj + return final_pos, RobotiqGripper.ObjectStatus(final_obj) \ No newline at end of file -- GitLab