adeck/python-urx-getl-rt
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first draft of move in tool space

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Olivier R-D 2013-02-12 15:02:40 +01:00
parent cb2707ddde
commit 3903a1d400
1 changed files with 28 additions and 15 deletions
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43
urx/urx.py
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@ -47,10 +47,6 @@ o = robot.get_orientation()
o.rotate_yb(pi)
robot.orient(o)
TODO:
add more methods
movec
DOC LINK
http://support.universal-robots.com/URRobot/RemoteAccess
"""
@ -259,11 +255,11 @@ class URRobot(object):
if not wait:
return None
else:
time.sleep(0.05)# it is important to sleep since robot may takes a while to get into running state
while True:
time.sleep(0.05)# it is important to sleep since robot may takes a while to get into running state
if not self.isRunning():#FIXME add more tests
if not self.isRunning():
raise RobotException("Robot stopped")
currentjoints = self.getj()
currentjoints = self.getj(wait=True)
if self._eq(currentjoints, joints) and not self.secmon.isProgramRunning():
return currentjoints
@ -297,7 +293,7 @@ class URRobot(object):
else:
time.sleep(0.05)# it is important to sleep since robot may takes a while to get into running state
while True:
if not self.isRunning():#FIXME add more tests
if not self.isRunning():
raise RobotException("Robot stopped")
pose = self.getl(wait=True)
if self._eqpose(pose, tpose) and not self.secmon.isProgramRunning():
@ -318,6 +314,7 @@ class URRobot(object):
where joints is a list of list. dvs: several movel commands must be send as one program in order for radius blending to work.
This is could easily be implemented in movel by detecting type of the joint variable
"""
# can be implemented by sending a complete urscript program calling several movel in a row with a radius
raise NotImplementedError
def stopl(self, acc = 0.5):
@ -422,10 +419,20 @@ class Robot(object):
if pose: #movel does not return anything when wait is False
return self.inverse * math3d.Transform(pose)
def add_transform(self, trans, acc=None, vel=None, wait=True):
def add_transform_b(self, trans, acc=None, vel=None, wait=True):
"""
Add transform expressed in base coordinate
"""
pose = self.get_transform()
return self.apply_transform(trans * pose, acc, vel, wait)
def add_transform_t(self, trans, acc=None, vel=None, wait=True):
"""
Add transform expressed in tool coordinate
"""
pose = self.get_transform()
return self.apply_transform(pose * trans, acc, vel, wait)
def get_transform(self, wait=False):
pose = self.robot.getl(wait)
trans = self.inverse * math3d.Transform(pose)
@ -440,18 +447,24 @@ class Robot(object):
return trans.pos
def movel(self, pose, acc=None, vel=None, wait=True):
"""
move linear to given pose in base coordinate
"""
t = math3d.Transform(pose)
self.apply_transform(t, acc, vel, wait)
def movelrel(self, pose, acc=None, vel=None, wait=True):
self.add_transform(math3d.Transform(pose), acc, vel, wait)
def movel_tool(self, pose, acc=None, vel=None, wait=True):
"""
move linear to given pose in tool coordinate
"""
t = math3d.Transform(pose)
self.add_transform_t(t, acc, vel, wait)
def movel_cnc(self, pose, acc=None, vel=None, wait=True):
def movelrel(self, pose, acc=None, vel=None, wait=True):
"""
One could implement a CNC like interface with ABC like euler angles
Not implemented yet
move linear to given pose in base coordinate at tool point
"""
pass
self.add_transform_b(math3d.Transform(pose), acc, vel, wait)
def getl(self, wait=False):
t = self.get_transform(wait)