adeck/python-urx-getl-rt
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small update

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This commit is contained in:
Olivier R-D 2015-01-19 18:06:15 +01:00
parent 914db2a3cc
commit 19aa6aa420
2 changed files with 29 additions and 28 deletions
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5
tools/get_rob.py
View File

@ -2,6 +2,7 @@
import sys
import logging
from math import pi
from IPython import embed
from urx import Robot
import math3d
@ -14,9 +15,7 @@ if __name__ == "__main__":
try:
robot = Robot( host )#, logLevel=logging.DEBUG, parserLogLevel=logging.DEBUG)
r = robot
from IPython.frontend.terminal.embed import InteractiveShellEmbed
ipshell = InteractiveShellEmbed( banner1="\nStarting IPython shell, robot object is available\n")
ipshell(local_ns=locals())
embed()
finally:
if "robot" in dir():
robot.cleanup()

52
urx/robot.py
View File

@ -510,7 +510,6 @@ class Robot(URRobot):
if pose != None : #movel does not return anything when wait is False
return self.csys.inverse * m3d.Transform(pose)
set_transform = apply_transform #since we have set_pos, set_orient, we should be consistent and use set for tranform to ..
def add_transform_base(self, trans, acc=None, vel=None, radius=0, wait=True, process=False):
"""
@ -550,25 +549,25 @@ class Robot(URRobot):
def speedl(self, velocities, acc, min_time):
"""
move at given velocities until minimum min_time seconds
move at given velocities in base csys until minimum min_time seconds
"""
#r = m3d.Transform(velocities)
v = self.csys.orient * m3d.Vector(velocities[:3])
w = self.csys.orient * m3d.Vector(velocities[3:])
URRobot.speedl(self, np.concatenate((v.data, w.data)), acc, min_time)
URRobot.speedl(self, np.concatenate((v.array, w.array)), acc, min_time)
def speedl_tool(self, velocities, acc, min_time):
"""
move in tool coordinate at given velocities until minimum min_time seconds
move at given velocities in tool csys until minimum min_time seconds
"""
pose = self.get_transform()
v = self.csys.orient * pose.orient * m3d.Vector(velocities[:3])
w = self.csys.orient * pose.orient * m3d.Vector(velocities[3:])
URRobot.speedl(self, np.concatenate((v.data, w.data)), acc, min_time)
URRobot.speedl(self, np.concatenate((v.array, w.array)), acc, min_time)
def movel(self, pose, acc=None, vel=None, wait=True, relative=False, radius=0.01):
"""
move linear to given pose in current csys
if pose is a list of poses then movels is called
"""
t = m3d.Transform(pose)
if relative:
@ -576,6 +575,19 @@ class Robot(URRobot):
else:
return self.apply_transform(t, acc, vel, radius, wait=wait, process=False)
def movels(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True):
"""
Concatenate several movep commands and applies a blending radius
pose_list is a list of pose.
"""
new_poses = []
for pose in pose_list:
t = self.csys * m3d.Transform(pose)
pose = t.pose_vector
pose = [round(i, self.max_float_length) for i in pose]
new_poses.append(pose)
return URRobot.movels(self, new_poses, acc, vel, radius, wait=wait)
def movec(self, pose_via, pose_to, acc=0.01, vel=0.01, radius=0, wait=True):
"""
Move Circular: Move to position (circular in tool-space)
@ -606,24 +618,14 @@ class Robot(URRobot):
t = self.get_transform(wait)
return t.pose_vector.tolist()
def movels(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True):
"""
Concatenate several movep commands and applies a blending radius
pose_list is a list of pose.
"""
new_poses = []
for pose in pose_list:
t = self.csys * m3d.Transform(pose)
pose = t.pose_vector
pose = [round(i, self.max_float_length) for i in pose]
new_poses.append(pose)
return URRobot.movels(self, new_poses, acc, vel, radius, wait=wait)
def set_gravity(self, vector):
if type(vector) == m3d.Vector:
vector = vector.list
return URRobot.set_gravity(self, vector)
set_transform = apply_transform #since we have set_pos, set_orient, we should be consistent and use set for tranform to ..
set_pose = apply_transform
set_pose_tool = add_transform_tool
if not MATH3D:
Robot = URRobot
@ -631,14 +633,14 @@ if not MATH3D:
if __name__ == "__main__":
logging.basicConfig(level=logging.INFO) #enable logging
try:
#robot = Robot( '192.168.1.6')
robot = Robot( '192.168.1.5')
if len(sys.argv) > 1:
host = sys-argv[0]
else:
host = '192.168.1.5'
robot = Robot( host )
r = robot
from IPython.frontend.terminal.embed import InteractiveShellEmbed
ipshell = InteractiveShellEmbed( banner1="\n\n robot object is available \n\n")
ipshell(local_ns=locals())
from IPython import embed
finally:
if "robot" in dir():
robot.cleanup()