ur10.md

UR10 Integration

To run the code with UR10

1. Clone repo
   • git clone ssh://git@gitlab.cba.mit.edu:846/amiraa/physical-computing-design-tools.git
2. install node.js and npm
   • https://nodejs.org/en/download/
3. Navigate to ./physical-computing-design-tools/01_Code/physical_computing_interface/setup
   • cd physical-computing-design-tools/01_Code/physical_computing_interface/setup
4. run this command to install all node.js dependencies
   • npm install
   • the dependencies are express, edit-json-file, child_process (you can install them independently using npm install name if the first command doesn't work)
5. Now you can run the node.js server by running
   • node server.js
6. this will show you instructions to navigate to http://localhost:8080/demos/indexUR10.html on your browser
7. There you can first change the settings in the json editor in the bottom right, these are the global settings:

   {
       run:true, // if true it will call the python script to move the UR10s, if false it will just save the setup ../assembly/python-urx/setup.json
       pythonFileName: "ur10test", //in ./assembly/python-urx/
       ipNode: "192.168.1.52", //ip address 
       ipEdge: "192.168.1.53",
       latticePitch:{
           x:0.031,
           y:0.031,
           z:0.006,
       },
       nodePickupRobotHome:{
           x: -1.5394771734820765,
           y: -1.6685369650470179,
           z: -2.495819155369894,
           rx:-2.1159094015704554,
           ry:-1.5422142187701624,
           rz:-1.5874159971820276,
       },
       edgePickupRobotHome:{
           x: -0.21965343156923467,
           y: -1.5261443297015589,
           z: 2.5553131103515625,
           rx:-1.0277064482318323,
           ry:1.3498035669326782,
           rz:-1.5769990126239222,
       },
       programmingRelativeDistance:{
           x: -0.203,
           y: 0.0127,
           z: 0.013,
           rx:0,
           ry:0,
           rz:0,
       },
       nodeRelativeDistance:{
           x: -0.4417,
           y: 0.005,
           z: 0.04,
           rx:0,
           ry:0,
           rz:0
       },
       edgeRelativeDistance:{
           x: 0,
           y: 0,
           z: 0.04,
           rx:0,
           ry:0,
           rz:0
       },
       v:0.5, //velocity to go to home
       a:0.5, //acceleration to go to home
       v1:0.05, //velocity to go to node/edge
       a1:0.05, //velocity to go to node/edge
       sleep:0.2,
       sleep1:0.1,
   },

8. If the settings are correct you can place the nodes in the assembly 3d grid, for now place them in the bottom right corner
   • 
9. You can run after placing one node or after placing both nodes by pressing right click while the cursor is on the node; then the radial menu will appear, you can then press play.
   • 
10. This will save the current setup to ./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/setup.json and if run:true it will run the python file that is in ./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/ for example ur10test.py
11. ./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/ur10test.py uses python-urx library to communicate with the UR10s and it uses the settings in ./physical-computing-design-tools/01_Code/physical_computing_interface/assembly/python-urx/setup.json, you can debug this independently.