Robot Example

In this example, you will load a 3D model of a robot into the 3D visualization and synchronize the joint angle positions with the voraus.core.

Fig. 18 The robot with synchronized joint angle positions

As shown in the figure below, three main services are started in this example: the voraus-core (robot), the voraus-3d-visu and the voraus-robot-sync service. From the voraus-core, the robot joint angles are read by the voraus-robot-sync service via OPC UA and sent to the voraus-3d-visu service to display the current robot pose.

Fig. 19 The architecture of this example.

Note

A valid voraus.core //virtual or equivalent license and Docker image is required for this example.

Open the Example in VSCode

Open the folder /examples/robot/ in VSCode, press ctrl + shift + p and select Dev Containers: Rebuild and Reopen in Container as shown in the figure below. It takes a moment for the dev container to be started.

Fig. 20 Open the robot Example in the Devcontainer

Open localhost:8077 in your web browser to display the 3D visualization as shown below. This is the initial robot position, the joint angles are currently not synchronized.

Fig. 21 The 3D visualization with the robot model in vertical position

Synchronize the Robot Pose

The Python file robot.py loads the 3D model of the robot into the 3D visualization. It establishes a connection via HTTP to the 3D visualization and via OPC UA to the voraus.core. The robot joint angles are cyclically queried from the voraus.core and updated in the 3D visualization. This script runs in its own Docker container as described later. The child names CS0 … CS5 are the names defined inside the GLB file.

"""Example for visualizing a robot."""

import time

from voraus_robot_arm import RobotArm

from voraus_3d_visu import Visu

model = "http://voraus-core/robots/VORAUS_INDUSTRIAL_ROBOT/VORAUS_INDUSTRIAL_ROBOT.glb"


if __name__ == "__main__":
    visu = Visu("http://voraus-3d-visu/", clear_all=True)
    robot_arm = RobotArm()

    with visu.connection(), robot_arm.connection("opc.tcp://voraus-core:48401/"):
        robot = visu.add_model(model_url=model, position=[0, 0, 0])

        while True:
            joint_pose = robot_arm.get_joint_pose()

            visu.update(
                robot.child("CS0").rotation.z(joint_pose.j1),
                robot.child("CS1").rotation.z(joint_pose.j2),
                robot.child("CS2").rotation.z(joint_pose.j3),
                robot.child("CS3").rotation.z(joint_pose.j4),
                robot.child("CS4").rotation.z(joint_pose.j5),
                robot.child("CS5").rotation.z(joint_pose.j6),
            )

            time.sleep(0.01)

Move the Robot

The Python file move.py connects to the voraus.core and defines the home position. It leads to a movement of the robot to the home pose immediately after connecting. It then waits until you press enter before it performs a linear movement in the positive x direction.

"""Example for moving a robot."""

from voraus_robot_arm import JointPose, Relativity, RobotArm, x

robot = RobotArm()
home = JointPose(0, -1.57, 1.57, -1.57, -1.57, 0)

if __name__ == "__main__":
    with robot.connection("opc.tcp://voraus-core:48401/"):
        robot.move_ptp(home)

        input("Press enter to move the robot.")
        robot.move_linear(x(0.2), relativity=Relativity.RELATIVE)

Open a terminal in VSCode and start the move.py Python script with the following command.

python move.py

Fig. 22 Running the robot example move Python script inside the dev container

The robot will move to the home pose immediately as shown in the image below.

Fig. 23 The 3D visualization with the robot model in home position

Press the <enter> key to start a linear movement in positive x direction.

Fig. 24 The 3D visualization with the robot moved in positive x direction

The Docker compose File

Five services (Docker containers) are defined in the docker-compose.yml file. The codemeter service is required for licensing the software. The voraus-core service starts a virtual robot backend. The voraus-3d-visu service the web-based 3D visualization backend. The voraus-robot-sync starts the Python script for robot pose synchronization in its own Docker container. The devcontainer service is intended for development with VSCode. The complete docker compose file is shown below.

docker-compose.yml

services:
  codemeter:
    hostname: codemeter
    image: artifactory.vorausrobotik.com/docker/voraus-codemeter:1.0.0
    environment:
      LICENSE_SERVER: host.docker.internal
    extra_hosts:
      - host.docker.internal:host-gateway

  voraus-core:
    image: artifactory.vorausrobotik.com/docker/voraus-core:2.12.1
    hostname: voraus-core
    ports:
      - 8080:80
      - 48401:48401
    environment:
      CODEMETER_HOST: codemeter
    depends_on:
      - codemeter
    healthcheck:
      test:
        [
          "CMD",
          "python",
          "-c",
          "exec('''from asyncua.sync import Client\\nwith Client('opc.tcp://localhost:48401/'): ...''')",
        ]
      interval: 10s
      timeout: 5s
      retries: 10
      start_period: 5s

  voraus-3d-visu:
    image: artifactory.vorausrobotik.com/docker/voraus-3d-visu:0.15.1
    hostname: voraus-3d-visu
    ports:
      - 8077:80
    environment:
      CODEMETER_HOST: codemeter
      V3DVISU_ALLOWED_HOSTS: '["voraus-core"]'
    depends_on:
      - codemeter

  voraus-robot-sync:
    image: artifactory.vorausrobotik.com/docker/voraus-3d-visu:0.15.1
    environment:
      CODEMETER_HOST: codemeter
    volumes:
      - ./:/examples/
    working_dir: /examples/
    command: ["python", "robot.py"]
    depends_on:
      voraus-3d-visu:
        condition: service_started
      voraus-core:
        condition: service_healthy

  devcontainer:
    image: artifactory.vorausrobotik.com/docker/voraus-3d-visu:0.15.1
    volumes:
      - .:/home/localuser/workspace:cached
    command: /bin/sh -c "while sleep 1000; do :; done"
    environment:
      CODEMETER_HOST: codemeter
    depends_on:
      - codemeter