UR_Buffer.py

"""Test the buffering nature of a UR 5.

This script is designed to test the buffering nature of a UR 5, the result
is that the UR5 does not buffer motions, but the communication protocol can
get overrun. Therefore it is critical to not send more than 125 commands
per second"""

# The MIT License (MIT)
#
# Copyright (c) 2016 GTRC.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.


import socket
import time


def deg_2_rad(x):
    return 3.14 * x / 180


def rad_2_deg(x):
    return (x / 3.14) * 180


def double_range(start, stop, step):
    r = start
    while r < stop:
        yield r
        r += step

def main():
    HOST = "192.168.1.100"    # The remote host
    PORT = 30003              # The same port as used by the server

    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    s.connect((HOST, PORT))
    s.send("set_payload(0.0)" + "\n")
    s.close()
    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    s.connect((HOST, PORT))
    s.send("set_gravity([0.0, 0.0, 9.82])" + "\n")
    s.close()
    s = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    s.connect((HOST, PORT))

    center = [100.0/1000, -475.0/1000, 425.0/1000, 1.2, -1.2, 1.2]
    angleStart = [90, -95, 90, 0, 90, 90]
    angleStart = map(deg_2_rad, angleStart)
    blend = .005

    s.send(
        "movej("+str(angleStart)+", a=1.3962634015954636, v=1.0471975511965976)" +
        "\n")
    time.sleep(3)

    for delayTime in double_range(0, 2, .25):
        thisMove = list(center)
        thisMove[0] = center[0] - .1
        thisMove[2] = center[2] - .1
        command = "movep(p"+str(thisMove)+", a=1.3, v=.3, r="+str(blend)+")" + "\n"
        print command
        s.send(command)

        time.sleep(2)

        thisMove = list(center)
        thisMove[0] = center[0] + .1
        thisMove[2] = center[2] - .1
        command = "movep(p"+str(thisMove)+", a=.2, v=.1, r="+str(blend)+")" + "\n"
        print command
        s.send(command)

        time.sleep(delayTime)

        thisMove = list(center)
        thisMove[0] = center[0] + .1
        thisMove[2] = center[2] + .1
        command = "movep(p"+str(thisMove)+", a=.2, v=.1, r="+str(blend)+")" + "\n"
        print command
        s.send(command)

        time.sleep(3)

    for delayTime in double_range(0, 2, .25):
        thisMove = list(center)
        thisMove[0] = center[0] - .1
        thisMove[2] = center[2] - .1
        command = "movel(p"+str(thisMove)+", a=1.3, v=.3, r="+str(blend)+")" + "\n"
        print command
        s.send(command)

        time.sleep(2)

        thisMove = list(center)
        thisMove[0] = center[0] + .1
        thisMove[2] = center[2] - .1
        command = "movel(p"+str(thisMove)+", a=.2, v=.1, r="+str(blend)+")" + "\n"
        print command
        s.send(command)

        time.sleep(delayTime)

        thisMove = list(center)
        thisMove[0] = center[0] + .1
        thisMove[2] = center[2] + .1
        command = "movel(p"+str(thisMove)+", a=.2, v=.1, r="+str(blend)+")" + "\n"
        print command
        s.send(command)

        time.sleep(3)

    for delayTime in double_range(0, 1.5, .25):
        thisMove = list(center)
        thisMove[0] = center[0] - .1
        thisMove[2] = center[2] - .1
        command = "movel(p"+str(thisMove)+", a=1.3, v=.3, r="+str(blend)+")" + "\n"
        print command
        s.send(command)

        time.sleep(2)

        thisMove = list(center)
        thisMove[0] = center[0] + .1
        thisMove[2] = center[2] - .1
        command = "movel(p"+str(thisMove)+", a=.2, v=.1, r="+str(blend)+")" + "\n"
        print command
        s.send(command)

        time.sleep(delayTime)

        command = "stopl(a=.2)" + "\n"
        print command
        s.send(command)

        time.sleep(3)

    s.close()

if __name__=="__main__":
    main()