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Experimental attempt to batch-execute multiple joint moves.

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This commit is contained in:
Morten Lind 2019-02-11 16:01:01 +01:00
parent 6d68374f9e
commit 6e2aa2939e
1 changed files with 15 additions and 1 deletions
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16
urx/urrobot.py
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@ -342,6 +342,17 @@ class URRobot(object):
self._wait_for_move(pose_to, threshold=threshold) self._wait_for_move(pose_to, threshold=threshold)
return self.getl() return self.getl()
def movejs(self, joint_positions_list, acc=0.01, vel=0.01, radius=0.01,
wait=True, threshold=None):
"""
Concatenate several movej commands and applies a blending radius
joint_positions_list is a list of joint_positions.
This method is usefull since any new command from python
to robot make the robot stop
"""
return self.movexs("movej", joint_positions_list, acc, vel, radius,
wait, threshold=threshold)
def movels(self, pose_list, acc=0.01, vel=0.01, radius=0.01, def movels(self, pose_list, acc=0.01, vel=0.01, radius=0.01,
wait=True, threshold=None): wait=True, threshold=None):
""" """
@ -397,7 +408,10 @@ class URRobot(object):
prog += end prog += end
self.send_program(prog) self.send_program(prog)
if wait: if wait:
self._wait_for_move(target=pose_list[-1], threshold=threshold) if command == 'movel':
self._wait_for_move(target=pose_list[-1], threshold=threshold, joints=False)
elif command == 'movej':
self._wait_for_move(target=pose_list[-1], threshold=threshold, joints=True)
return self.getl() return self.getl()
def stopl(self, acc=0.5): def stopl(self, acc=0.5):