interface with ur10

01_Code/physical_computing_interface/assembly/python-urx/setup.json

@@ -57,81 +57,7 @@
       "sleep": 0.2,
       "sleep1": 0.1
     },
-    "nodes": [
-      {
-        "y": 0,
-        "x": 0,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 0
-      },
-      {
-        "y": 0,
-        "x": 1,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 0
-      }
-    ],
-    "edges": [
-      {
-        "y": 0,
-        "x": 0.5,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 0
-      },
-      {
-        "y": -0.5,
-        "x": 0,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 1.5707963267948966
-      },
-      {
-        "y": 0,
-        "x": -0.5,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 0
-      },
-      {
-        "y": 0.5,
-        "x": 0,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 1.5707963267948966
-      },
-      {
-        "y": 0,
-        "x": 1.5,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 0
-      },
-      {
-        "y": -0.5,
-        "x": 1,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 1.5707963267948966
-      },
-      {
-        "y": 0,
-        "x": 0.5,
-        "z": 0,
-        "rx": 0,
-        "ry": 0,
-        "rz": 0
-      }
-    ]
+    "nodes": [],
+    "edges": []
   }
 }
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02_Presentation/assembly/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:
+    ```javascript
+    {
+        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
+   - ![](./nodes.png)
+9. You can run after placing one node or after placing both nodes by pressing the right click bottom while the mouse is on the node then pressing play (on the radial menu)
+   - ![](./run.png)
+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.
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