adeck/python-urx-getl-rt
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updated to accommodate the changes of math3d

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This commit is contained in:
Byeongdulee 2023-12-11 13:46:00 -06:00
parent 29c690bb7e
commit 3b4ce975e6
2 changed files with 24 additions and 1 deletions
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3
urx/robot.py
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@ -208,6 +208,9 @@ class Robot(URRobot):
return current transformation from tcp to current csys return current transformation from tcp to current csys
""" """
t = self.get_pose(wait, _log) t = self.get_pose(wait, _log)
try:
return t.pose_vector.array.tolist()
except:
return t.pose_vector.tolist() return t.pose_vector.tolist()
def set_gravity(self, vector): def set_gravity(self, vector):

20
urx/urrobot.py
View File

@ -354,18 +354,30 @@ class URRobot(object):
""" """
Send a movel command to the robot. See URScript documentation. Send a movel command to the robot. See URScript documentation.
""" """
try:
tpose = tpose.array
except:
pass
return self.movex("movel", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold) return self.movex("movel", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold)
def movep(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False, threshold=None): def movep(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False, threshold=None):
""" """
Send a movep command to the robot. See URScript documentation. Send a movep command to the robot. See URScript documentation.
""" """
try:
tpose = tpose.array
except:
pass
return self.movex("movep", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold) return self.movex("movep", tpose, acc=acc, vel=vel, wait=wait, relative=relative, threshold=threshold)
def servoc(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False, threshold=None): def servoc(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False, threshold=None):
""" """
Send a servoc command to the robot. See URScript documentation. Send a servoc command to the robot. See URScript documentation.
""" """
try:
tpose = tpose.array
except:
pass
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): 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):
@ -391,6 +403,10 @@ class URRobot(object):
return "{}({}[{},{},{},{},{},{}], a={}, v={}, t={}, lookahead_time={}, gain={})".format(command, prefix, *tjoints) 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=""):
try:
tpose = tpose.array
except:
pass
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)
tpose.append(vel) tpose.append(vel)
@ -402,6 +418,10 @@ class URRobot(object):
Send a move command to the robot. since UR robotene have several methods this one Send a move command to the robot. since UR robotene have several methods this one
sends whatever is defined in 'command' string sends whatever is defined in 'command' string
""" """
try:
tpose = tpose.array
except:
pass
if relative: if relative:
l = self.getl() l = self.getl()
tpose = [v + l[i] for i, v in enumerate(tpose)] tpose = [v + l[i] for i, v in enumerate(tpose)]