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make movels uses current csys, add shutdown as a link to cleanup

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Olivier R-D
2013-06-07 12:23:04 +02:00
parent 7070145c9b
commit 7e544014f8
1 changed files with 4 additions and 1 deletions
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5
urx/urx.py
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@@ -235,7 +235,7 @@ class URRobot(object):
finished = True finished = True
for i in range(0, 6): for i in range(0, 6):
if abs(jts["q_actual%s"%i] - jts["q_target%s"%i]) > self.radialEpsilon: if abs(jts["q_actual%s"%i] - jts["q_target%s"%i]) > self.radialEpsilon:
#self.logger.warn("Waiting for end move, q_actual is {}, q_target is {}, diff is {}, epsilon is {}".format( jts["q_actual%s"%i], jts["q_target%s"%i] , jts["q_actual%s"%i] - jts["q_target%s"%i], self.radialEpsilon)) #print("Waiting for end move, q_actual is {}, q_target is {}, diff is {}, epsilon is {}".format( jts["q_actual%s"%i], jts["q_target%s"%i] , jts["q_actual%s"%i] - jts["q_target%s"%i], self.radialEpsilon))
finished = False finished = False
break break
if finished and not self.secmon.is_program_running(): if finished and not self.secmon.is_program_running():
@@ -307,6 +307,8 @@ class URRobot(object):
template = "movel(p[{},{},{},{},{},{}], a={}, v={}, r={})\n" template = "movel(p[{},{},{},{},{},{}], a={}, v={}, r={})\n"
prog = header prog = header
for idx, pose in enumerate(pose_list): for idx, pose in enumerate(pose_list):
t = self.csys * math3d.Transform(pose)
pose = t.pose_vector
pose = [round(i, self.max_float_length) for i in pose] pose = [round(i, self.max_float_length) for i in pose]
pose.append(acc) pose.append(acc)
pose.append(vel) pose.append(vel)
@@ -362,6 +364,7 @@ class URRobot(object):
self.secmon.cleanup() self.secmon.cleanup()
if self.rtmon: if self.rtmon:
self.rtmon.stop() self.rtmon.stop()
shutdown = cleanup #this might be wrong since we could also shutdown the robot from this script
def set_freedrive(self, val): def set_freedrive(self, val):
if val: if val: