adeck/python-urx-getl-rt
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default radius should be 0... otherwise robot stops before target

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Olivier R-D
2015-04-15 14:56:59 +02:00
parent f769446d2c
commit 48879b57ae
1 changed files with 4 additions and 2 deletions
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6
urx/robot.py
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@@ -105,6 +105,7 @@ class URRobot(object):
set robot flange to tool tip transformation set robot flange to tool tip transformation
""" """
prog = "set_tcp(p[{}, {}, {}, {}, {}, {}])".format(*tcp) prog = "set_tcp(p[{}, {}, {}, {}, {}, {}])".format(*tcp)
self.logger.info("Sending program: " + prog)
self.send_program(prog) self.send_program(prog)
def set_payload(self, weight, cog=None): def set_payload(self, weight, cog=None):
@@ -514,6 +515,7 @@ class Robot(URRobot):
get current transform from base to to tcp get current transform from base to to tcp
""" """
pose = URRobot.getl(self, wait) pose = URRobot.getl(self, wait)
self.logger.info("Received pose %s from robot", pose)
trans = self.csys.inverse * m3d.Transform(pose) trans = self.csys.inverse * m3d.Transform(pose)
return trans return trans
@@ -549,7 +551,7 @@ class Robot(URRobot):
w = 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.array, w.array)), 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): def movel(self, pose, acc=None, vel=None, wait=True, relative=False, radius=0):
""" """
move linear to given pose in current csys move linear to given pose in current csys
""" """
@@ -559,7 +561,7 @@ class Robot(URRobot):
else: else:
return self.set_pose(t, acc, vel, radius, wait=wait, process=False) return self.set_pose(t, acc, vel, radius, wait=wait, process=False)
def movels(self, pose_list, acc=0.01, vel=0.01, radius=0.01, wait=True): def movels(self, pose_list, acc=0.01, vel=0.01, radius=0, wait=True):
""" """
Concatenate several movep commands and applies a blending radius Concatenate several movep commands and applies a blending radius
pose_list is a list of pose. pose_list is a list of pose.