# ur10_motion_script

**Repository Path**: byrds/ur10_motion_script

## Basic Information

- **Project Name**: ur10_motion_script
- **Description**: This is a ROS package to simulate UR10 on gazebo and control the simulation via Moveit! with rviz or a python script.
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-11-30
- **Last Updated**: 2020-12-19

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

# ur10_motion_script

This is a ROS package to simulate UR10 on gazebo and control the simulation via Moveit! with rviz or a python script.

## Getting Started

These instructions will get you a copy of the project up and running on your local machine for development and testing purposes. See deployment for notes on how to deploy the project on a live system.

### Hardware Prerequisites
#### Hong the UR10

#### Computer

-Configure your computer network for a static IP address
```
1. Go to network > Edit connections > Add Ehternet Connection
2. IPv4 Settings: (Method = Manual, Address = 192.168.1.111, Netmask = 24, Gateway = 192.168.1.1
3. Save
```


### Software Prerequisites
- ROS kinetic 
- universal_robot package [link](http://wiki.ros.org/universal_robot)
- ur_modern_driver [link](https://github.com/ThomasTimm/ur_modern_driver)
- MoveIt! [link](http://docs.ros.org/kinetic/api/moveit_tutorials/html/index.html) 
- Gazebo
- Rviz
- Software tested on Ubuntu 16.04.3 LTS.

### Installing
#### ur_modern_driver [link](https://github.com/ThomasTimm/ur_modern_driver)
1. Open terminal and go to your ~/catkin workspace/src directory
2. git clone modern driver
```
git clone https://github.com/ThomasTimm/ur_modern_driver
```
3. Build catkin workspace
4. If there is error in building, try replacing <ur_hardware_interface.cpp> file in the src directory of ur_modern_driver package (~/catkin_ws/src/ur_modern_driver/src)

## How to run it

1. Run a gazebo simulation by launching the following commands in three different terminals
```
roscore
```
```
roslaunch ur_gazebo ur10.launch
```
```
roslaunch ur10_moveit_config ur10_moveit_planning_execution.launch sim:=true
```
2. Rviz can also be executed with the following command on a fourth terminal
```
roslaunch ur10_moveit_config moveit_rviz.launch config:=true
```
3. Run the executable python motion plan to run simulation in gazebo environment:
```
rosrun ur10_motion_script ur10_turnArcFunction.py
```
OR just launch a launch file
```
roslaunch ur10_motion_script simulation.launch
```

### Functions

#### 1. TurnArcAboutAxis(axis, CenterOfCircle_1, CenterOfCircle_2, angle_degree, direction, tilt, tilt_axis, tilt_direction)
**Purpose:** Turns about a reference center point in path mode or tilt mode 

**Parameters:** 
- axis: ['x'/'y'/'z'] - reference axis to turn the position of the end effector about
- CenterOfCircle_1,2: [float] - coordinate of the reference center of circle to turn the end effector about
- angle_degree: [degrees] - angular distance to turn
- direction: [1/-1] - 1 to turn ccw, -1 to turn cw
- tilt: ['yes'/'no'] - tilt mode yes or no
- tilt_axis: ['x'/'y'/'z'] - tilting axis with respect to the end effector frame
- tilt_direction: [1/-1] - 1 to turn ccw, -1 to turn cw 

#### 2. regrasp(theta, length, phi_target, axis, direction, tilt_axis, tilt_direction)
**Purpose:** Regrasp thin object by simultaneously tiliting end-effector and widening grip (unit: mm)

**Parameters:** 
- theta: [degrees] - angle of gripper axis w.r.t. ground surface
- length: [mm] - length of thin object being gripped by gripper 
- phi_target: [degrees] - regrasp angle
- axis: ['x'/'y'/'z'] - reference axis to turn the position of the end effector about
- direction: [1/-1] - 1 to turn ccw, -1 to turn cw
- tilt_axis: ['x'/'y'/'z'] - tilting axis with respect to the end effector frame
- tilt_direction: [1/-1] - 1 to turn ccw, -1 to turn cw 

#### 3. assign_joint_value(joint_0, joint_1, joint_2, joint_3, joint_4, joint_5)
**Purpose:** Manipulate robot arm by specifying joint values

**Parameters:** 
- joint angles in radians; joint order from base to wrist 

#### 4. assign_pose_target(pos_x, pos_y, pos_z, orient_x, orient_y, orient_z, orient_w)
**Purpose:** Manipulate robot arm by specifying end-effector frame pose

**Parameters:** 
- Orientation in quaternions with respect to end-effector frame
- Cartesian coordinates of end-effector with respect to world frame
- Giving 'nil' as the parameter value will leave the parameter unchagned

#### 5. relative_joint_value(joint_0, joint_1, joint_2, joint_3, joint_4, joint_5)
**Purpose:** Manipulate by assigning relative joint values w.r.t. current joint values of robot

**Parameters:** 
- joint angles in radians; joint order from base to wrist 

#### 6. relative_pose_target(axis_world, distance)
**Purpose:** Manipulate by moving gripper linearly with respect to world frame

**Parameters:** 
- axis_world: ['x'/'y'/'z'] - reference axis to move linearly about with respect to world frame 
- distance: [float] - distance to move 


## Authors

* **John Kim** 

## Acknowledgments