adeck/python-urx-getl-rt
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use movel by default since movep is not supported in older controler

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Olivier R-D 2013-09-17 14:33:09 +02:00
parent 91de03a46f
commit c056a6c7a5
1 changed files with 7 additions and 7 deletions
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14
urx/urx.py
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@ -339,14 +339,14 @@ class URRobot(object):
self.wait_for_move() self.wait_for_move()
return self.getl() return self.getl()
def moveps(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True): def movels(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True):
""" """
Concatenate several movel commands and applies a blending radius Concatenate several movel commands and applies a blending radius
pose_list is a list of pose. pose_list is a list of pose.
""" """
header = "def myProg():\n" header = "def myProg():\n"
end = "end\n" end = "end\n"
template = "movep(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):
pose.append(acc) pose.append(acc)
@ -556,10 +556,10 @@ class Robot(URRobot):
def movel(self, pose, acc=None, vel=None, wait=True, relative=False, radius=0.01): def movel(self, pose, acc=None, vel=None, wait=True, relative=False, radius=0.01):
""" """
move linear to given pose in current csys move linear to given pose in current csys
if pose is a list of poses then moveps is called if pose is a list of poses then movels is called
""" """
if type(pose[0]) in (list, tuple): if type(pose[0]) in (list, tuple):
return self.moveps(pose, acc, vel, radius, wait) return self.movels(pose, acc, vel, radius, wait)
t = m3d.Transform(pose) t = m3d.Transform(pose)
if relative: if relative:
return self.add_transform_base(t, acc, vel, wait, process=False) return self.add_transform_base(t, acc, vel, wait, process=False)
@ -580,18 +580,18 @@ class Robot(URRobot):
t = self.get_transform(wait) t = self.get_transform(wait)
return t.pose_vector return t.pose_vector
def moveps(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True): def movels(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True):
""" """
Concatenate several movep commands and applies a blending radius Concatenate several movep commands and applies a blending radius
pose_list is a list of pose. pose_list is a list of pose.
""" """
new_poses = [] new_poses = []
for idx, pose in enumerate(pose_list): for pose in pose_list:
t = self.csys * m3d.Transform(pose) t = self.csys * m3d.Transform(pose)
pose = t.pose_vector 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]
new_poses.append(pose) new_poses.append(pose)
return URRobot(new_poses, acc, vel, radius, wait) return URRobot.movels(self, new_poses, acc, vel, radius, wait)
def set_gravity(self, vector): def set_gravity(self, vector):
if type(vector) == m3d.Vector: if type(vector) == m3d.Vector: