public void BuildRobotArms()
{
var left = new RobotArm("ArmyRobot - Left");
var right = new RobotArm("ArmyRobot - Right");
_robot.SetRobotArms(left, right);
}
// Use this for initialization
void Start()
{
onTrack = false;
InitialiseTimer();
arm = GetComponent <RobotArm>();
}
public void BuildRobotArms()
{
var left = new RobotArm("HomeKeeper - Left");
var right = new RobotArm("HomeKeeper - Right");
_robot.SetRobotArms(left, right);
}
void Update()
{
// If myDigitalArmControl has not been wired up on Awake exit
if (myDigitalArmControl == null)
{
return;
}
// Make sure X never goes under 0 and Y under 1 (arm design constraints)
if (xPos < 0.1f)
{
xPos = 0.1f;
}
if (yPos < 1)
{
yPos = 1;
}
// Converts cartesian coordinates into servo Angles using a dedicated library
ArmAngles myArmAngles = RobotArm.CartesianToServo(xPos, yPos, armLength);
// Write servo angles in myDigitalArmControl script
myDigitalArmControl.baseServoAngle = myArmAngles.baseAngle;
myDigitalArmControl.jointServoAngle = myArmAngles.jointAngle;
}
/// <summary>
/// A button click event to perform Get Wafer from a location (station+slot)
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void GetBTN_Click(object sender, EventArgs e)
{
if (connection.isConnected())
{
string rbt = RobotCB.Text;
string hand = RbtHandCB.Text;
string lp = LoadPortCB.Text;
string slot = LPSlotCB.Text;
if (String.IsNullOrEmpty(rbt))
{
MessageBox.Show("Please select Robot");
}
if (String.IsNullOrEmpty(lp))
{
MessageBox.Show("Please select a Load Port");
}
if (String.IsNullOrEmpty(hand))
{
MessageBox.Show("Please select a Load Port");
}
/*Get selected robot hand in type of RobotArm enum */
RobotArm Hand = new RobotArm();
switch (hand)
{
case "H1":
Hand = RobotArm.ARM_1;
break;
case "H2":
Hand = RobotArm.ARM_2;
break;
}
/*Construct and send the command to server accordingly */
switch (lp)
{
case "Load Port1":
string cmd1 = R1.GetWafer(Hand, LP1, (LoadPortSlot)Convert.ToInt32(slot));
ULTMServices.sendCommand(cmd1);
commandLogger.Log($"{cmd1}");
break;
case "Load Port2":
string cmd2 = R1.GetWafer(Hand, LP2, (LoadPortSlot)Convert.ToInt32(slot));
ULTMServices.sendCommand(cmd2);
commandLogger.Log($"{cmd2}");
break;
}
;
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Client>>Server:Get"); }));
}
else
{
errorLogger.Log("Robot is not connected");
}
}
void readJSON(string json)
{
RobotArm arm = JsonUtility.FromJson <RobotArm>(@json);
for (int i = 0; i < 6; i++)
{
jointCmds[i] = arm.joint_angles[i];
}
}
private JointAngles GetJointAngles(double x, double y, double z)
{
z = z + RobotArm.EndEffectorLength;
Vector3 wristLocation = new Vector3(x, y, z);
JointAngles jointAngles = RobotArm.DoInverseKinematics(wristLocation);
jointAngles.WristTiltAngle = GetWristTiltAngleForVertical(jointAngles);
return(jointAngles);
}
private JointAngles GetJointAngles(double x, double y, double z, bool zIsBasedOnEndeffectorTip)
{
if (zIsBasedOnEndeffectorTip)
{
z = z + RobotArm.EndEffectorLength;
}
Vector3 wristLocation = new Vector3(x, y, z);
JointAngles jointAngles = RobotArm.DoInverseKinematics(wristLocation);
return(jointAngles);
}
static List <Mesh> PoseMeshesRobot(RobotArm arm, IList <Plane> planes, Mesh tool)
{
planes = planes.ToList();
var count = planes.Count - 1;
planes.RemoveAt(count);
planes.Add(planes[count - 1]);
var defaultPlanes = arm.Joints.Select(m => m.Plane).Prepend(arm.BasePlane).Append(Plane.WorldXY).ToList();
var defaultMeshes = arm.Joints.Select(m => m.Mesh).Prepend(arm.BaseMesh).Append(tool);
var outMeshes = defaultMeshes.Select(m => m.DuplicateMesh()).ToList();
for (int i = 0; i < defaultPlanes.Count; i++)
{
var s = Transform.PlaneToPlane(defaultPlanes[i], planes[i]);
outMeshes[i].Transform(s);
}
return(outMeshes);
}
static void Main(string[] args)
{
try
{
Vector3 wristLocation = new Vector3(RobotArm.ForearmLength, 0, RobotArm.ShoulderHeight + RobotArm.UpperArmLength);
JointAngles jointAngles = RobotArm.DoInverseKinematics(wristLocation);
Debug.WriteLine(jointAngles);
//DHFrameInfo[] frameInfos = new DHFrameInfo[]
// {
// new DHFrameInfo(0, 90, 60, 90),
// new DHFrameInfo(100, 0, 0, 90),
// //new DHFrameInfo(3, 0, 0, 0),
// };
//Matrix4x4[] transformations = new Matrix4x4[frameInfos.Length];
//Matrix4x4 completeTransformation = Matrix4x4.Identity;
//for (int i = frameInfos.Length - 1; i >= 0; i--)
//{
// transformations[i] = DHTransformation.ToPreviousFrame(frameInfos[i]);
// completeTransformation = transformations[i] * completeTransformation;
//}
//Vector4 vector1 = new Vector4(0, 0, 0);
//Vector4 transformedVector = completeTransformation * vector1;
//System.Console.WriteLine(transformedVector);
}
catch (Exception ex)
{
System.Console.WriteLine(ex.ToString());
}
finally
{
System.Console.ReadLine();
}
}
// Use this for initialization
void Start()
{
_robotArmController = RobotArm.GetComponent <RobotArm>();
}
protected RobotKinematics(RobotArm robot, Target target, double[]?prevJoints = null, Plane?basePlane = null) : base(robot, target, prevJoints, basePlane)
{
}
public Robot WithRightArm(RobotArm rightArm)
{
return(With(rightArm.Prop));
}
public Robot WithLeftArm(RobotArm leftArm)
{
return(With(leftArm.Prop));
}
// Use this for initialization
void Start()
{
startOffset = transform.localPosition;
_arm = GetComponentInParent <RobotArm>();
}
// Start is called before the first frame update
void Start()
{
robotArm = GetComponent <RobotArm> ();
}
public OffsetWristKinematics(RobotArm robot, Target target, double[]?prevJoints, Plane?basePlane) : base(robot, target, prevJoints, basePlane)
{
}
/// <summary>
/// A button click event to perform Transfer a wafer from a location(station+slot) to an another location(station+slot)
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void TransferBTN_Click(object sender, EventArgs e)
{
if (connection.isConnected())
{
string rbt = RobotCB.Text;
string hand = RbtHandCB.Text;
string source = SourceCB.Text;
string sourSlot = SrcSlotCB.Text;
string destination = DestinationCB.Text;
string destSlot = DstSlotCB.Text;
if (String.IsNullOrEmpty(rbt))
{
MessageBox.Show("Please select Robot");
}
if (String.IsNullOrEmpty(hand))
{
MessageBox.Show("Please select a Load Port");
}
/*Get selected robot hand in type of RobotArm enum */
RobotArm Hand = new RobotArm();
switch (hand)
{
case "H1":
Hand = RobotArm.ARM_1;
break;
case "H2":
Hand = RobotArm.ARM_2;
break;
}
/*Construct and send the command to server accordingly */
string cmd = "";
switch (source)
{
case "Load Port1":
switch (destination)
{
case "Load Port1":
cmd = R1.Tranfer(Hand, LP1, (LoadPortSlot)Convert.ToInt32(sourSlot), LP1, (LoadPortSlot)Convert.ToInt32(destSlot));
ULTMServices.sendCommand(cmd);
commandLogger.Log(cmd);
break;
case "Load Port2":
cmd = R1.Tranfer(Hand, LP1, (LoadPortSlot)Convert.ToInt32(sourSlot), LP2, (LoadPortSlot)Convert.ToInt32(destSlot));
ULTMServices.sendCommand(cmd);
commandLogger.Log(cmd);
break;
}
break;
case "Load Port2":
switch (destination)
{
case "Load Port1":
cmd = R1.Tranfer(Hand, LP2, (LoadPortSlot)Convert.ToInt32(sourSlot), LP1, (LoadPortSlot)Convert.ToInt32(destSlot));
ULTMServices.sendCommand(cmd);
commandLogger.Log(cmd);
break;
case "Load Port2":
cmd = R1.Tranfer(Hand, LP2, (LoadPortSlot)Convert.ToInt32(sourSlot), LP2, (LoadPortSlot)Convert.ToInt32(destSlot));
ULTMServices.sendCommand(cmd);
commandLogger.Log(cmd);
break;
}
break;
}
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Client>>Server:Transfer"); }));
}
else
{
errorLogger.Log("Robot is not connected");
}
}
public override void InitializeAgent()
{
brainConfig = 1;
SetupEvents();
robotArm = GetComponent <RobotArm> ();
area = GetComponentInParent <Area> ();
// when the arm is holding an object
robotArm.OnHoldingObject = () => {
if (brain != NoTargetBrain)
{
// just call when the arm holds an object for the first time in the episode
if (!HeldAlready)
{
HeldAlready = true;
if (area.IsTrainingArea())
{
agentParameters.maxStep = GetStepCount() + 2000;
}
// add reward for holding object
AddReward(4f);
// done if flag set
if (DoneOnPickup)
{
Debug.Log("Pick Success with: " + GetCumulativeReward());
Done();
}
else
{
// reset cummulative reward for the next brain
AddReward(-1f * GetCumulativeReward());
}
}
if (!DoneOnPickup)
{
// change brain to drop brain
brainConfig = 2;
// called when the holding object touches ground
robotArm.holdingObject.GetComponent <TargetCollision> ().OnGroundCollision = () => {
// if touched ground and is not holding object but held it already
if (!robotArm.IsHoldingObject() && HeldAlready)
{
// negative reward for dropping object
AddReward(-1f);
//GiveBrain (PickupBrain);
Done();
}
};
}
}
};
// negative reward when the arm hit other objects than the target
robotArm.OnCollision = (Collision other) => {
if (!other.gameObject.CompareTag("Target"))
{
AddReward(-0.04f);
}
};
}
/// <summary>
/// A button click event to perform robot move to a selected location code of selected slot of selected station
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void MoveBTN_Click(object sender, EventArgs e)
{
if (connection.isConnected())
{
string rbt = RobotCB.Text;
string hand = RbtHandCB.Text;
string lp = LoadPortCB.Text;
string slot = LPSlotCB.Text;
string locationCode = locationCodeCB.Text;
if (String.IsNullOrEmpty(locationCode))
{
MessageBox.Show("Please select Location Code");
}
if (String.IsNullOrEmpty(rbt))
{
MessageBox.Show("Please select Robot");
}
if (String.IsNullOrEmpty(lp))
{
MessageBox.Show("Please select a Load Port");
}
if (String.IsNullOrEmpty(hand))
{
MessageBox.Show("Please select a Load Port");
}
/*Get selected robot hand in type of RobotArm enum */
RobotArm Hand = new RobotArm();
switch (hand)
{
case "H1":
Hand = RobotArm.ARM_1;
break;
case "H2":
Hand = RobotArm.ARM_2;
break;
}
/*Get selected location code in type of LocationCode enum */
LocationCode LC = new LocationCode();
switch (locationCode)
{
case "pbx":
LC = LocationCode.pbx;
break;
case "gbx":
LC = LocationCode.gbx;
break;
}
/*Construct and send the command to server accordingly */
string cmd = "";
switch (lp)
{
case "Load Port1":
ULTMServices.sendCommand(R1.Move(Hand, LP1, (LoadPortSlot)Convert.ToInt32(slot), LC));
break;
case "Load Port2":
ULTMServices.sendCommand(R1.Move(Hand, LP1, (LoadPortSlot)Convert.ToInt32(slot), LC));
break;
}
this.TerminalRTB.Invoke(new MethodInvoker(delegate() { TerminalRTB.AppendText(Environment.NewLine + Environment.NewLine + "Client>>Server:Move"); }));
}
else
{
errorLogger.Log("Robot is not connected");
}
}
public void SetRobotArms(RobotArm leftArm, RobotArm rightArm)
{
LeftArm = leftArm;
RightArm = rightArm;
}
void OnCollisionEnter2D(Collision2D collision)
{
bool hell = false;
//collision with ff
FerrofluidScript goo = collision.gameObject.GetComponent <FerrofluidScript> ();
HealthScript playerHealth = GetComponent <HealthScript> ();
FloorScript floor = collision.gameObject.GetComponent <FloorScript> ();
PopUpScript popUp = collision.gameObject.GetComponent <PopUpScript> ();
BossFight boss = collision.gameObject.GetComponent <BossFight> ();
ShieldScript shield = collision.gameObject.GetComponent <ShieldScript> ();
ShieldNumber shieldnumber = collision.gameObject.GetComponent <ShieldNumber> ();
FfScript ffBottle = collision.gameObject.GetComponent <FfScript> ();
WingsCounter wings = collision.gameObject.GetComponent <WingsCounter> ();
RobotArm robot = GetComponent <RobotArm> ();
OrangeCell orangeCell = collision.gameObject.GetComponent <OrangeCell>();
RedCell redCell = collision.gameObject.GetComponent <RedCell>();
BlueCell blueCell = collision.gameObject.GetComponent <BlueCell>();
MetalCell metalCell = collision.gameObject.GetComponent <MetalCell>();
MazePlatform maze = collision.gameObject.GetComponent <MazePlatform>();
//BridgePlatformScript bridge = GetComponent<BridgePlatformScript> ();
if (collision.gameObject.tag == "orange")
{
// damagePlayer = true;
// Debug.Log("shield not hit");
// if(playerHealth != null)
// playerHealth.Damage(orangeCell.damage,respawnPosX,respawnPosY,false);
if (shieldGO.activeSelf == true)
{
damagePlayer = false;
shieldHits--;
metalCell.hitByShield = true;
Debug.Log("shield hit");
//orangeCell = null;
if (playerHealth != null)
{
playerHealth.Damage(orangeCell.damage, respawnPosX, respawnPosY, true);
}
}
else
{
damagePlayer = true;
Debug.Log("shield not hit");
if (playerHealth != null)
{
playerHealth.Damage(orangeCell.damage, respawnPosX, respawnPosY, false);
}
}
}
if (collision.gameObject.tag == "red")
{
damagePlayer = true;
Debug.Log("shield not hit");
if (playerHealth != null)
{
playerHealth.Damage(redCell.damage, respawnPosX, respawnPosY, false);
}
}
if (collision.gameObject.tag == "blue")
{
damagePlayer = true;
Debug.Log("shield not hit");
if (playerHealth != null)
{
playerHealth.Damage(blueCell.damage, respawnPosX, respawnPosY, false);
}
}
if (collision.gameObject.tag == "metal")
{
// damagePlayer = true;
// Debug.Log("shield not hit");
// if(playerHealth != null)
// playerHealth.Damage(orangeCell.damage,respawnPosX,respawnPosY,false);
if (shieldGO.activeSelf == true)
{
damagePlayer = false;
shieldHits--;
metalCell.hitByShield = true;
Debug.Log("shield hit");
}
else
{
damagePlayer = true;
Debug.Log("shield not hit");
if (playerHealth != null)
{
playerHealth.Damage(orangeCell.damage, respawnPosX, respawnPosY, false);
}
}
}
if (floor != null)
{
damagePlayer = true;
hell = true;
}
if (hell)
{
if (playerHealth != null)
{
playerHealth.Damage(floor.damage, respawnPosX, respawnPosY, false);
}
}
if (collision.gameObject.name == "Checkpoint1")
{
CheckpointScript checkpoint = collision.gameObject.GetComponent <CheckpointScript>();
respawnPosX = checkpoint.posX;
respawnPosY = checkpoint.posY;
Destroy(collision.gameObject.GetComponent <Collider2D>());
}
if (collision.gameObject.name == "Checkpoint2")
{
CheckpointScript checkpoint = collision.gameObject.GetComponent <CheckpointScript>();
respawnPosX = checkpoint.posX;
respawnPosY = checkpoint.posY;
Destroy(collision.gameObject.GetComponent <Collider2D>());
}
if (collision.gameObject.name == "Checkpoint3")
{
CheckpointScript checkpoint = collision.gameObject.GetComponent <CheckpointScript>();
respawnPosX = checkpoint.posX;
respawnPosY = checkpoint.posY;
Destroy(collision.gameObject.GetComponent <Collider2D>());
}
if (collision.gameObject.name == "Checkpoint4")
{
CheckpointScript checkpoint = collision.gameObject.GetComponent <CheckpointScript>();
respawnPosX = checkpoint.posX;
respawnPosY = checkpoint.posY;
Destroy(collision.gameObject.GetComponent <Collider2D>());
}
// if (collision.gameObject.name == "atomo") {
// popUp.showPopUp = true;
// popUp.gameObject.GetComponent<Renderer>().enabled = false;
// Destroy(popUp.gameObject.GetComponent<Collider2D>());
// }
if (collision.gameObject.tag == "MovingPlatform")
{
this.transform.parent = collision.transform;
}
// if (collision.gameObject.tag == "lever"){
// RobotArm.move = true;
// }
//
// if (collision.gameObject.tag == "lever1") {
// RobotArm.move1 = true;
// }
if (collision.gameObject.tag == "Boss")
{
boss.gameObject.GetComponent <Renderer>().enabled = true;
showPopUp = true;
maxSpeed = 0;
if (i == 5)
{
maxSpeed = 25;
Destroy(boss.gameObject);
boss.gameObject.GetComponent <Renderer>().enabled = false;
}
}
if (collision.gameObject.tag == "Door")
{
Application.LoadLevel("Hidrofobia");
}
if (wings != null)
{
wings.GetComponent <Renderer>().enabled = false;
wings.GetComponent <PolygonCollider2D>().enabled = false;
wingsCounter = 7;
}
if (collision.gameObject.tag == "shield")
{
ShieldCounterManager.AddShield(shieldnumber.shieldNumber);
Destroy(shieldnumber.gameObject);
shieldFlag = true;
Debug.Log("Shield available");
}
if (collision.gameObject.tag == "ffbottle")
{
FfCounterManager.AddFF(ffBottle.ffNumber);
gunFlag = true;
Destroy(ffBottle.gameObject);
}
//platform activator
if (collision.gameObject.tag == "ActivatePlatform")
{
collision.gameObject.GetComponent <Animator>().enabled = true;
}
if (collision.gameObject.tag == "Boots")
{
collision.gameObject.GetComponent <Renderer>().enabled = false;
collision.gameObject.GetComponent <PolygonCollider2D>().enabled = false;
time = 5;
}
if (collision.gameObject.tag == "box")
{
bool founded = false;
BoxController box = collision.gameObject.GetComponent <BoxController>();
box.Founded(true);
Destroy(collision.gameObject);
}
if (collision.gameObject.tag == "Bridge1")
{
BridgePlatformScript.bridge1 = true;
}
if (collision.gameObject.tag == "Bridge2")
{
BridgePlatformScript.bridge2 = true;
}
if (collision.gameObject.tag == "Bridge3")
{
BridgePlatformScript.bridge3 = true;
}
if (collision.gameObject.tag == "Bridge4")
{
BridgePlatformScript.bridge4 = true;
}
if (collision.gameObject.tag == "Bridge5")
{
BridgePlatformScript.bridge5 = true;
}
if (collision.gameObject.tag == "Bridge6")
{
BridgePlatformScript.bridge6 = true;
}
if (collision.gameObject.tag == "Bridge7")
{
BridgePlatformScript.bridge7 = true;
}
if (collision.gameObject.name == "MetallicFloorFerroFluidMAP 159")
{
MazePlatform.ground = true;
transform.parent = collision.transform;
}
}
private void Start()
{
robotArm = GetComponentInParent <RobotArm> ();
}
