want to .setLinkDummy

[kitae7425]

Hello,

I wanto express how to use suction gripper with UR5.

I was going to use setLinkDummy with two dummys.

but error occur, I can't find the reason, can you help?

Thank you

Code: Select all

function sysCall_init()
    corout=coroutine.create(coroutineMain)
    
    -- Take a few handles from the dynamic robot:
    simBase=sim.getObject('.')
    simTip=sim.getObject('./tip')
    simTarget=sim.getObject('./target')
    simP=sim.getObject('./tcp')
    simJoints={}
    for i=1,6,1 do
        simJoints[i]=sim.getObject('./joint',{index=i-1})
    end

    -- Prepare an ik group, using the convenience function 'simIK.addIkElementFromScene':
    ikEnv=simIK.createEnvironment()
    ikGroup=simIK.createIkGroup(ikEnv)
    simIK.setIkGroupCalculation(ikEnv,ikGroup,simIK.method_damped_least_squares,0.01,10)
    local ikElement=simIK.addIkElementFromScene(ikEnv,ikGroup,simBase,simTip,simTarget,simIK.constraint_pose)
    simIK.setIkElementPrecision(ikEnv,ikGroup,ikElement,{0.0005,0.005*math.pi/180})

    -- Graphs:
    graph3dSpace=sim.getObject('/3dSpace')
    graphJointSpace=sim.getObject('/jointSpace')
    endEffectorVelX=sim.addGraphStream(graph3dSpace,'end effector velocity x','m/s',0,{1,0,0})
    endEffectorVelY=sim.addGraphStream(graph3dSpace,'end effector velocity y','m/s',0,{0,1,0})
    endEffectorVelZ=sim.addGraphStream(graph3dSpace,'end effector velocity z','m/s',0,{0,0.5,1})
    jointVels={}
    jointVels[1]=sim.addGraphStream(graphJointSpace,'joint 1 velocity','deg/s',0,{1,0,0})
    jointVels[2]=sim.addGraphStream(graphJointSpace,'joint 2 velocity','deg/s',0,{0,1,0})
    jointVels[3]=sim.addGraphStream(graphJointSpace,'joint 3 velocity','deg/s',0,{0,0.5,1})
    jointVels[4]=sim.addGraphStream(graphJointSpace,'joint 4 velocity','deg/s',0,{1,1,0})
    jointVels[5]=sim.addGraphStream(graphJointSpace,'joint 5 velocity','deg/s',0,{1,0,1})
    jointVels[6]=sim.addGraphStream(graphJointSpace,'joint 6 velocity','deg/s',0,{0,1,1})
end

function sysCall_sensing()
    local vel=sim.getObjectVelocity(simTip)
    sim.setGraphStreamValue(graph3dSpace,endEffectorVelX,vel[1])
    sim.setGraphStreamValue(graph3dSpace,endEffectorVelY,vel[2])
    sim.setGraphStreamValue(graph3dSpace,endEffectorVelZ,vel[3])
    for i=1,#simJoints,1 do
        sim.setGraphStreamValue(graphJointSpace,jointVels[i],180*sim.getJointVelocity(simJoints[i])/math.pi)
    end
end

function sysCall_actuation()
    if coroutine.status(corout)~='dead' then
        local ok,errorMsg=coroutine.resume(corout)
        if errorMsg then
            error(debug.traceback(corout,errorMsg),2)
        end
    end
end

function moveToPoseCallback(pose,velocity,accel,auxData)
    sim.setObjectPose(auxData.target,-1,pose)
    simIK.applyIkEnvironmentToScene(auxData.ikEnv,auxData.ikGroup)
end

function moveToPose_viaIK(maxVelocity,maxAcceleration,maxJerk,targetPose,auxData)
    local currentPose=sim.getObjectPose(auxData.tip,-1)
    return sim.moveToPose(-1,currentPose,maxVelocity,maxAcceleration,maxJerk,targetPose,moveToPoseCallback,auxData,nil)
end

function moveToConfigCallback(config,velocity,accel,auxData)
    for i=1,#auxData.joints,1 do
        local jh=auxData.joints[i]
        if sim.getJointMode(jh)==sim.jointmode_force and sim.isDynamicallyEnabled(jh) then
            sim.setJointTargetPosition(jh,config[i])
        else    
            sim.setJointPosition(jh,config[i])
        end
    end
end

function moveToConfig_viaFK(maxVelocity,maxAcceleration,maxJerk,goalConfig,auxData)
    local startConfig={}
    for i=1,#auxData.joints,1 do
        startConfig[i]=sim.getJointPosition(auxData.joints[i])
    end
    sim.moveToConfig(-1,startConfig,nil,nil,maxVelocity,maxAcceleration,maxJerk,goalConfig,nil,moveToConfigCallback,auxData,nil)
end

function coroutineMain()
    -- IK movement data:
    local maxIkVel={0.45,0.45,0.45,4.5} -- vx,vy,vz in m/s, Vtheta is rad/s
    local maxIkAccel={0.13,0.13,0.13,1.24} -- ax,ay,az in m/s^2, Atheta is rad/s^2
    local maxIkJerk={0.1,0.1,0.1,0.2} -- is ignored (i.e. infinite) with RML type 2
    local w1=sim.getObjectPose(sim.getObject('/waypoint1'),-1)
    local w2=sim.getObjectPose(sim.getObject('/waypoint2'),-1)
    local w3=sim.getObjectPose(sim.getObject('/waypoint3'),-1)
    local w4=sim.getObjectPose(sim.getObject('/waypoint4'),-1)
    local w5=sim.getObjectPose(sim.getObject('/waypoint5'),-1)

    -- FK movement data:
    local initConf={}
    local maxConfVel={}
    local maxConfAccel={}
    local maxConfJerk={}
    for i=1,#simJoints,1 do
        initConf[i]=sim.getJointPosition(simJoints[i])
        maxConfVel[i]=45*math.pi/180
        maxConfAccel[i]=1.15
        maxConfJerk[i]=0.4
    end

    -- Execute the movement here:
    local data={}
    data.ikEnv=ikEnv
    data.ikGroup=ikGroup
    data.tip=simTip
    data.target=simTarget
    data.joints=simJoints
    
    
    moveToConfig_viaFK(maxConfVel,maxConfAccel,maxConfJerk,initConf,data)
    moveToPose_viaIK(maxIkVel,maxIkAccel,maxIkJerk,w1,data)
    moveToPose_viaIK(maxIkVel,maxIkAccel,maxIkJerk,w2,data)
    moveToPose_viaIK(maxIkVel,maxIkAccel,maxIkJerk,w3,data)
    moveToPose_viaIK(maxIkVel,maxIkAccel,maxIkJerk,w4,data)
    sim.wait(1)
    sim.setLinkDummy(SimP,w5)
    moveToPose_viaIK(maxIkVel,maxIkAccel,maxIkJerk,w1,data)
    
    
end

function sysCall_cleanup()
    simIK.eraseEnvironment(ikEnv)
end

[coppelia]

Hello,

what error? What does it say?

Cheers

[kitae7425]

Hello, Coppelia

there is Error

[/UR5@childScript:error] 124: in sim.setLinkDummy: one of the function's argument type is not correct.
stack traceback:
[C]: in function 'simSetLinkDummy'
[string "/UR5@childScript"]:124: in function 'coroutineMain'
stack traceback:
[C]: in function 'error'
[string "/UR5@childScript"]:50: in function 'sysCall_actuation'

Thank you

[coppelia]

Did you try to print the arguments that appear to be wrong?

[kitae7425]

Not yet, I'm very beginner of coding, can I know what should I do?

Thank you for your helping

[coppelia]

look at the line where the error is generated. One line before, you can add a print of the arguments, so see if the arguments are what you expect them to be, e.g.:

Code: Select all

print(SimP,w5)
sim.setLinkDummy(SimP,w5)

Cheers

[kitae7425]

I got this

nil,{-1.1485867500305, 0.66700154542923, 0.72914695739746, 8.9406967163086e-08, 5.9604651880818e-08, 0.0, 1.0}
[/UR5@childScript:error] 127: in sim.setLinkDummy: one of the function's argument type is not correct.
stack traceback:
[C]: in function 'simSetLinkDummy'
[string "/UR5@childScript"]:127: in function 'coroutineMain'
stack traceback:
[C]: in function 'error'
[string "/UR5@childScript"]:51: in function 'sysCall_actuation'
[sandboxScript:info] Simulation suspended.

Thank you

[fferri]

SimP is nil.
Your variable is called simP. Lua is a case-sensitive programming language.