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Handle stopping pose with blend radius after list generation.

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This commit is contained in:
Morten Lind 2019-01-21 10:25:16 +01:00
parent 8b8252b6ba
commit 6d68374f9e
1 changed files with 5 additions and 5 deletions
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10
urx/urrobot.py
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@ -5,7 +5,7 @@ http://support.universal-robots.com/URRobot/RemoteAccess
""" """
import logging import logging
import number import numbers
import collections import collections
from urx import urrtmon from urx import urrtmon
@ -365,7 +365,7 @@ class URRobot(object):
end = "end\n" end = "end\n"
prog = header prog = header
# Check if 'vel' is a single number or a sequence. # Check if 'vel' is a single number or a sequence.
if isinstance(vel, number.Number): if isinstance(vel, numbers.Number):
# Make 'vel' a sequence # Make 'vel' a sequence
vel = len(pose_list) * [vel] vel = len(pose_list) * [vel]
elif not isinstance(vel, collections.Sequence): elif not isinstance(vel, collections.Sequence):
@ -377,20 +377,20 @@ class URRobot(object):
'movexs: "vel" must be a number or a list ' 'movexs: "vel" must be a number or a list '
+ 'of numbers the same length as "pose_list"!') + 'of numbers the same length as "pose_list"!')
# Check if 'radius' is a single number. # Check if 'radius' is a single number.
if isinstance(radius, number.Number): if isinstance(radius, numbers.Number):
# Make 'radius' a sequence # Make 'radius' a sequence
radius = len(pose_list) * [radius] radius = len(pose_list) * [radius]
elif not isinstance(radius, collections.Sequence): elif not isinstance(radius, collections.Sequence):
raise RobotException( raise RobotException(
'movexs: "radius" must be a single number or a sequence!') 'movexs: "radius" must be a single number or a sequence!')
# Ensure that last pose a stopping pose.
radius[-1] = 0.0
# Require adequate number of radii. # Require adequate number of radii.
if len(radius) != len(pose_list): if len(radius) != len(pose_list):
raise RobotException( raise RobotException(
'movexs: "radius" must be a number or a list ' 'movexs: "radius" must be a number or a list '
+ 'of numbers the same length as "pose_list"!') + 'of numbers the same length as "pose_list"!')
for idx, pose in enumerate(pose_list): for idx, pose in enumerate(pose_list):
if idx == (len(pose_list) - 1):
radius = 0
prog += self._format_move(command, pose, acc, prog += self._format_move(command, pose, acc,
vel[idx], radius[idx], vel[idx], radius[idx],
prefix="p") + "\n" prefix="p") + "\n"