# Assembly Example

### **HMI Panel File**

<figure><img src="/files/TzsjAWsyTQlUdg3KSpk0" alt=""><figcaption></figcaption></figure>

{% file src="/files/7ZYqiPVP9HCKgeJQolPN" %}

### **Robot Program File**

```python
# Robot script file

# HMI input variables
approach = 100
contact_pose = p[-0.190, -0.610, 0.061, -0.00, 3.12, 0.04]
contact_force = 20
insertion_pose = p[-0.190, -0.610, 0.061, -0.00, 3.12, 0.04]
push_force = 30
step = 10

pick_pose = p[-0.189, -0.611, 0.240, -0.00, 3.11, 0.04]
threshold = 0.004
thread_running = False

# status variables
READY = 0
PICK = 1
APPROACH = 2
CONTACT = 3
SPIRAL = 4
INSERT = 5
ASSEMBLED = 6
status = READY

# thread functions for async movements
thread move_to_insert():
    movel(insertion_pose, v=0.02)
    thread_running = False
end

thread move_spiral():
    start_radius = 0.01
    center_pose = get_actual_tcp_pose()
    rotations = 10

    movel(center_pose)
    i = 0
    while i < rotations:
        r = start_radius + i*step/1000
        p1 = pose_trans(center_pose, p[r, 0, 0, 0, 0, 0])
        p2 = pose_trans(center_pose, p[0, r, 0, 0, 0, 0])
        movec(p1, p2, r=0.01)

        p3 = pose_trans(center_pose, p[-r, 0, 0, 0, 0, 0])
        p4 = pose_trans(center_pose, p[0, -r, 0, 0, 0, 0])
        movec(p3, p4, r=0.01)

        i = i + 1
    end
end

# gripper functions
def grasp():

end

def release():

end

def pick():
    status = PICK
    approach_pose = pose_trans(pick_pose, p[0, 0, -approach/1000, 0, 0, 0])
    movel(approach_pose)
    movel(pick_pose)
    grasp()
    movel(approach_pose)
end

def assembly():
    # approach
    status = APPROACH
    approach_pose = pose_trans(insertion_pose, p[0, 0, -approach/1000, 0, 0, 0])
    movel(approach_pose)

    # detect contact
    status = CONTACT
    thread_completed = False
    thread_id = run move_to_insert()
    while force() < contact_force and thread_running:
        sleep(0.1)
    end
    if thread_running:
        kill thread_id
    end
    stopl(0.5)

    # move spiral
    status = SPIRAL
    force_mode(p[0, 0, 0, 0, 0,0], [0, 0, 1, 0, 0, 0], [0, 0, -push_force, 0 , 0, 0], 2, [40, 40, 40, 5, 5, 5])
    thread_completed = False
    thread_id = run move_spiral()
    while get_actual_tcp_pose()[2] > contact_pose[2] - threshold and thread_running:
        sleep(0.1)
    end
    if thread_running:
        kill thread_id
    end
    stopl(0.5)
    end_force_mode()

    # insert
    status = INSERT
    current_pose = get_actual_tcp_pose()
    current_pose[2] = insertion_pose[2]
    movel(insertion_pose)
    release()

    # retract
    status = ASSEMBLED
    retract_pose = pose_trans(get_actual_tcp_pose(), p[0, 0, -approach/1000, 0, 0, 0])
    movel(retract_pose)
end

# main function
def start_task():
    status = READY
    pick()
    assembly()
end

```

{% file src="/files/f3yH5pTBlge7tzrwCS4j" %}

{% file src="/files/0PcCX8tl70j8Bg5v7j0d" %}


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