adeck/python-urx-getl-rt
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

bug in movel and movelrel

Browse Source
This commit is contained in:
Olivier R-D 2013-01-28 12:50:56 +01:00
parent 5f127b3b97
commit 3ed2040f28
1 changed files with 15 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

26
urx/urx.py
View File

@ -228,8 +228,9 @@ class URRobot(object):
The RT interfaces is only used for the getForce related methods The RT interfaces is only used for the getForce related methods
Rmq: A program sent to the robot i executed immendiatly and any running program is stopped Rmq: A program sent to the robot i executed immendiatly and any running program is stopped
""" """
def __init__(self, host, useRTInterface=False): def __init__(self, host, useRTInterface=False, debug=False):
self.host = host self.host = host
self.debug = debug
self.secmon = SecondaryMonitor(self.host) #data from robot at 10Hz self.secmon = SecondaryMonitor(self.host) #data from robot at 10Hz
@ -414,7 +415,8 @@ class URRobot(object):
""" """
l = self.getl() l = self.getl()
newl = [v + l[i] for i, v in enumerate(tpose)] newl = [v + l[i] for i, v in enumerate(tpose)]
#print "going to: ", newl if self.debug:
print("going to: ", newl)
return self.movel(newl, acc, vel, wait ) return self.movel(newl, acc, vel, wait )
def movel(self, tpose, acc=0.01, vel=0.01, wait=True): def movel(self, tpose, acc=0.01, vel=0.01, wait=True):
@ -425,7 +427,8 @@ class URRobot(object):
#todo: should check joints input and velocity #todo: should check joints input and velocity
tpose = [round(i, 2) for i in tpose] tpose = [round(i, 2) for i in tpose]
prog = "movel(p%s, a=%s, v=%s)" % (tpose, acc, vel) prog = "movel(p%s, a=%s, v=%s)" % (tpose, acc, vel)
#print(prog) if self.debug:
print("Sending: ", prog)
self.sendProgram(prog) self.sendProgram(prog)
if not wait: if not wait:
return None return None
@ -444,9 +447,10 @@ class URRobot(object):
""" """
pose = self.secmon.getCartesianInfo() pose = self.secmon.getCartesianInfo()
if pose: if pose:
return [pose["X"], pose["Y"], pose["Z"], pose["Rx"], pose["Ry"], pose["Rz"]] pose = [pose["X"], pose["Y"], pose["Z"], pose["Rx"], pose["Ry"], pose["Rz"]]
else: if self.debug:
return None print("Got linear position from robot: ", pose)
return pose
def movels(self, joints, acc, vel , radius, wait=True): def movels(self, joints, acc, vel , radius, wait=True):
""" """
@ -506,13 +510,14 @@ class Robot(object):
and includes support for calibrating the robot coordinate system and includes support for calibrating the robot coordinate system
and style portet to PEP 8 and style portet to PEP 8
""" """
def __init__(self, host, useRTInterface=False): def __init__(self, host, useRTInterface=False, debug=False):
self.robot = URRobot(host, useRTInterface) self.robot = URRobot(host, useRTInterface, debug)
self.default_linear_acceleration = 0.01 self.default_linear_acceleration = 0.01
self.default_linear_velocity = 0.01 self.default_linear_velocity = 0.01
self.calibration = math3d.Transform() #identity self.calibration = math3d.Transform() #identity
self.inverse = self.calibration.inverse() self.inverse = self.calibration.inverse()
self.tracker = None
def set_tcp(self, tcp): def set_tcp(self, tcp):
if type(tcp) == math3d.Transform: if type(tcp) == math3d.Transform:
@ -574,10 +579,10 @@ class Robot(object):
def movel(self, pose, acc=None, vel=None, wait=True): def movel(self, pose, acc=None, vel=None, wait=True):
t = math3d.Transform(pose) t = math3d.Transform(pose)
self.apply_transform(self.inverse * t, acc, vel, wait) self.apply_transform(t, acc, vel, wait)
def movelrel(self, pose, acc=None, vel=None, wait=True): def movelrel(self, pose, acc=None, vel=None, wait=True):
self.apply_transform(math3d.Transform(pose), acc, vel, wait) self.add_transform(math3d.Transform(pose), acc, vel, wait)
def movel_cnc(self, pose, acc=None, vel=None, wait=True): def movel_cnc(self, pose, acc=None, vel=None, wait=True):
""" """
@ -634,7 +639,6 @@ class Robot(object):
return t return t
if not MATH3D: if not MATH3D:
Robot = URRobot Robot = URRobot