adeck/python-urx-getl-rt
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add sphinx doc

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Olivier R-D
2015-05-11 21:43:53 +02:00
parent 48879b57ae
commit 03dd7af4c5
1 changed files with 8 additions and 9 deletions
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17
urx/robot.py
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@@ -68,7 +68,7 @@ class URRobot(object):
def is_program_running(self): def is_program_running(self):
""" """
check if program is running. check if program is running.
After sending a program it might take several 10th of Warning!!!!!: After sending a program it might take several 10th of
a second before the robot enters the running state a second before the robot enters the running state
""" """
return self.secmon.is_program_running() return self.secmon.is_program_running()
@@ -291,8 +291,6 @@ class URRobot(object):
def movep(self, tpose, acc=0.01, vel=0.01, radius=0, wait=True, relative=False): def movep(self, tpose, acc=0.01, vel=0.01, radius=0, wait=True, relative=False):
""" """
Send a movep command to the robot. See URScript documentation. Send a movep command to the robot. See URScript documentation.
From URX the main advantage of movep is that it allows for path blending if
math3d is installed (BROKEN!)
""" """
if relative: if relative:
l = self.getl() l = self.getl()
@@ -339,6 +337,8 @@ class URRobot(object):
""" """
Concatenate several movel commands and applies a blending radius Concatenate several movel commands and applies a blending radius
pose_list is a list of pose. pose_list is a list of pose.
This method is usefull since any new command from python
to robot make the robot stop
""" """
header = "def myProg():\n" header = "def myProg():\n"
end = "end\n" end = "end\n"
@@ -412,7 +412,7 @@ class Robot(URRobot):
""" """
Generic Python interface to an industrial robot. Generic Python interface to an industrial robot.
Compared to the URRobot class, this class adds the possibilty to work directly with matrices Compared to the URRobot class, this class adds the possibilty to work directly with matrices
and includes support for calibrating the robot coordinate system and includes support for setting a reference coordinate system
""" """
def __init__(self, host, use_rt=False): def __init__(self, host, use_rt=False):
@@ -431,8 +431,7 @@ class Robot(URRobot):
def set_csys(self, transform): def set_csys(self, transform):
""" """
Set reference corrdinate system to use Set reference coordinate system to use
if matrix != None then a new csys is created
""" """
self.csys = transform self.csys = transform
@@ -480,9 +479,9 @@ class Robot(URRobot):
""" """
move tcp to point and orientation defined by a transformation move tcp to point and orientation defined by a transformation
if process is True, movep is used instead of movel if process is True, movep is used instead of movel
if radius is not 0 and wait is True, the method will return when tcp #if radius is not 0 and wait is True, the method will return when tcp
is radius close to the target. It is then possible to send another command #is radius close to the target. It is then possible to send another command
and the controller will blend the path. Blending only works with process(movep). (BROKEN!) #and the controller will blend the path. Blending only works with process(movep). (BROKEN!)
""" """
if not acc: if not acc:
acc = self.default_linear_acceleration acc = self.default_linear_acceleration