adeck/python-urx-getl-rt
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adding rtmon joints velocity get function

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This commit is contained in:
yunlongdong 2018-08-13 17:21:24 +08:00 committed by oroulet
parent e1f78ce203
commit 0912305ca2
1 changed files with 11 additions and 0 deletions
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11
urx/urrtmon.py
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@ -88,6 +88,16 @@ class URRTMonitor(threading.Thread):
return self._qActual
getActual = q_actual
def qd_actual(self, wait=False, timestamp=False):
""" Get the actual joint velocity vector."""
if wait:
self.wait()
with self._dataAccess:
if timestamp:
return self._timestamp, self._qdActual
else:
return self._qdActual
def q_target(self, wait=False, timestamp=False):
""" Get the target joint position vector."""
if wait:
@ -164,6 +174,7 @@ class URRTMonitor(threading.Thread):
self._ctrlTimestamp - self._last_ctrl_ts)
self._last_ctrl_ts = self._ctrlTimestamp
self._qActual = np.array(unp[31:37])
self._qdActual = np.array(unp[37:43])
self._qTarget = np.array(unp[1:7])
self._tcp_force = np.array(unp[67:73])
self._tcp = np.array(unp[73:79])