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update servoj

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Tony Fang 2021-08-03 19:56:52 +08:00 committed by oroulet
parent 2ed1f96236
commit 2250bda067
1 changed files with 22 additions and 0 deletions
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22
urx/urrobot.py
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@ -348,6 +348,28 @@ class URRobot(object):
""" """
return self.movex("servoc", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold) return self.movex("servoc", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold)
def servoj(self, tjoints, acc=0.01, vel=0.01, t=0.1, lookahead_time=0.2, gain=100, wait=True, relative=False, threshold=None):
"""
Send a servoj command to the robot. See URScript documentation.
"""
if relative:
l = self.getj()
tjoints = [v + l[i] for i, v in enumerate(tjoints)]
prog = self._format_servo("servoj", tjoints, acc=acc, vel=vel, t=t, lookahead_time=lookahead_time, gain=gain)
self.send_program(prog)
if wait:
self._wait_for_move(tjoints[:6], threshold=threshold, joints=True)
return self.getj()
def _format_servo(self, command, tjoints, acc=0.01, vel=0.01, t=0.1, lookahead_time=0.2, gain=100, prefix=""):
tjoints = [round(i, self.max_float_length) for i in tjoints]
tjoints.append(acc)
tjoints.append(vel)
tjoints.append(t)
tjoints.append(lookahead_time)
tjoints.append(gain)
return "{}({}[{},{},{},{},{},{}], a={}, v={}, t={}, lookahead_time={}, gain={})".format(command, prefix, *tjoints)
def _format_move(self, command, tpose, acc, vel, radius=0, prefix=""): def _format_move(self, command, tpose, acc, vel, radius=0, prefix=""):
tpose = [round(i, self.max_float_length) for i in tpose] tpose = [round(i, self.max_float_length) for i in tpose]
tpose.append(acc) tpose.append(acc)