adeck/python-urx-getl-rt
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This commit is contained in:
Olivier R-D 2015-04-09 14:59:08 +02:00
parent ae0b56c644
commit 4a8559a111
2 changed files with 34 additions and 5 deletions
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4
urx/__init__.py
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@ -1,9 +1,9 @@
""" """
Python library to control an UR robot through its TCP/IP interface Python library to control an UR robot through its TCP/IP interface
""" """
__version__ = "0.8.2" __version__ = "0.9.0"
from .robot import Robot, RobotException, URRobot from urx.robot import Robot, RobotException, URRobot

35
urx/robot.py
View File

@ -3,7 +3,6 @@ Python library to control an UR robot through its TCP/IP interface
DOC LINK DOC LINK
http://support.universal-robots.com/URRobot/RemoteAccess http://support.universal-robots.com/URRobot/RemoteAccess
""" """
from __future__ import absolute_import # necessary for import tricks to work with python2
__author__ = "Olivier Roulet-Dubonnet" __author__ = "Olivier Roulet-Dubonnet"
__copyright__ = "Copyright 2011-2015, Sintef Raufoss Manufacturing" __copyright__ = "Copyright 2011-2015, Sintef Raufoss Manufacturing"
@ -62,13 +61,23 @@ class URRobot(object):
def __str__(self): def __str__(self):
return self.__repr__() return self.__repr__()
def is_running(self): # legacy def is_running(self):
return self.secmon.running return self.secmon.running
def is_program_running(self): def is_program_running(self):
"""
check if program is running.
After sending a program it might take several 10th of
a second before the robot enters the running state
"""
return self.secmon.is_program_running() return self.secmon.is_program_running()
def send_program(self, prog): def send_program(self, prog):
"""
send a complete program using urscript to the robot
the program is executed immediatly and any runnning
program is interrupted
"""
self.logger.info("Sending program: " + prog) self.logger.info("Sending program: " + prog)
self.secmon.send_program(prog) self.secmon.send_program(prog)
@ -179,7 +188,7 @@ class URRobot(object):
prog = "set_tool_voltage(%s)" % (val) prog = "set_tool_voltage(%s)" % (val)
self.send_program(prog) self.send_program(prog)
def wait_for_move(self, radius=0, Target=None): def wait_for_move(self, radius=0, target=None):
""" """
wait until a move is completed wait until a move is completed
radius and target args are ignored radius and target args are ignored
@ -351,6 +360,9 @@ class URRobot(object):
self.stopj() self.stopj()
def cleanup(self): def cleanup(self):
"""
close connection to robot and stop internal thread
"""
self.logger.info("Closing sockets to robot") self.logger.info("Closing sockets to robot")
self.secmon.cleanup() self.secmon.cleanup()
if self.rtmon: if self.rtmon:
@ -358,6 +370,10 @@ class URRobot(object):
shutdown = cleanup #this might be wrong since we could also shutdown the robot hardware from this script shutdown = cleanup #this might be wrong since we could also shutdown the robot hardware from this script
def set_freedrive(self, val): def set_freedrive(self, val):
"""
set robot in freedrive/brackdrive mode where an operator can jogg
the robot to wished pose
"""
if val: if val:
self.send_program("set robotmode freedrive") self.send_program("set robotmode freedrive")
else: else:
@ -399,6 +415,9 @@ class Robot(URRobot):
self.set_csys("Robot", m3d.Transform()) #identity self.set_csys("Robot", m3d.Transform()) #identity
def set_tcp(self, tcp): def set_tcp(self, tcp):
"""
set robot flange to tool tip transformation
"""
if type(tcp) == m3d.Transform: if type(tcp) == m3d.Transform:
tcp = tcp.pose_vector tcp = tcp.pose_vector
URRobot.set_tcp(self, tcp) URRobot.set_tcp(self, tcp)
@ -419,6 +438,10 @@ class Robot(URRobot):
self.csys = self.csys_dict[name] self.csys = self.csys_dict[name]
def set_orientation(self, orient, acc=None, vel=None, radius=0, wait=True): def set_orientation(self, orient, acc=None, vel=None, radius=0, wait=True):
"""
set tool orientation using a orientation matric from math3d
or a orientation vector
"""
if type(orient) is not m3d.Orientation: if type(orient) is not m3d.Orientation:
orient = m3d.Orientation(orient) orient = m3d.Orientation(orient)
trans = self.get_pose() trans = self.get_pose()
@ -498,10 +521,16 @@ class Robot(URRobot):
return trans return trans
def get_orientation(self, wait=False): def get_orientation(self, wait=False):
"""
get tool orientation in base coordinate system
"""
trans = self.get_pose(wait) trans = self.get_pose(wait)
return trans.orient return trans.orient
def get_pos(self, wait=False): def get_pos(self, wait=False):
"""
get tool tip pos(x, y, z) in base coordinate system
"""
trans = self.get_pose(wait) trans = self.get_pose(wait)
return trans.pos return trans.pos