adeck/python-urx-getl-rt
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Allow URRobot to be used as a context object.

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This commit is contained in:
Chris Gilmer 2017-01-24 12:55:04 -08:00 committed by ORD
parent 47c29fab83
commit 606ecd5fa3
3 changed files with 9 additions and 16 deletions
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8
urx/robot.py
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@ -365,11 +365,3 @@ class Robot(URRobot):
t = m3d.Transform() t = m3d.Transform()
t.orient.rotate_zb(val) t.orient.rotate_zb(val)
self.add_pose_tool(t) self.add_pose_tool(t)

15
urx/urrobot.py
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@ -42,7 +42,7 @@ class URRobot(object):
self.rtmon = self.get_realtime_monitor() self.rtmon = self.get_realtime_monitor()
# precision of joint movem used to wait for move completion # precision of joint movem used to wait for move completion
# the value must be conservative! otherwise we may wait forever # the value must be conservative! otherwise we may wait forever
self.joinEpsilon = 0.01 self.joinEpsilon = 0.01
# It seems URScript is limited in the character length of floats it accepts # It seems URScript is limited in the character length of floats it accepts
self.max_float_length = 6 # FIXME: check max length!!! self.max_float_length = 6 # FIXME: check max length!!!
@ -54,6 +54,12 @@ class URRobot(object):
def __str__(self): def __str__(self):
return self.__repr__() return self.__repr__()
def __enter__(self):
return self
def __exit__(self, exc_type, exc_value, traceback):
self.close()
def is_running(self): def is_running(self):
""" """
Return True if robot is running (not Return True if robot is running (not
@ -235,8 +241,8 @@ class URRobot(object):
dist += (target[i] - pose[i]) ** 2 dist += (target[i] - pose[i]) ** 2
for i in range(3, 6): for i in range(3, 6):
dist += ((target[i] - pose[i]) / 5) ** 2 # arbitraty length like dist += ((target[i] - pose[i]) / 5) ** 2 # arbitraty length like
return dist ** 0.5 return dist ** 0.5
def _get_joints_dist(self, target): def _get_joints_dist(self, target):
joints = self.getj(wait=True) joints = self.getj(wait=True)
dist = 0 dist = 0
@ -432,6 +438,3 @@ class URRobot(object):
Move down in csys z Move down in csys z
""" """
self.up(-z, acc, vel) self.up(-z, acc, vel)

2
urx/urrtmon.py
View File

@ -252,5 +252,3 @@ class URRTMonitor(threading.Thread):
while not self._stop_event: while not self._stop_event:
self.__recv_rt_data() self.__recv_rt_data()
self._rtSock.close() self._rtSock.close()