adeck/python-urx-getl-rt
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add cog in set_payload, make set_tcp only accept a list as argument

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Olivier R-D 2013-06-13 14:25:28 +02:00
parent dc208d3694
commit c2112810eb
1 changed files with 50 additions and 15 deletions
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65
urx/urx.py
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@ -103,24 +103,25 @@ class URRobot(object):
force += i**2
return force**0.5
def set_tcp(self, x=0, y=0, z=0, rx=0, ry=0, rz=0):
def set_tcp(self, tcp):
"""
set robot flange to tool tip transformation
"""
if type(x) in (list, tuple):
if len(x) != 6:
raise Exception("Tcp is a 6 values list")
else:
arg = x
else:
arg = (x, y, z, rx, ry, rz)
prog = "set_tcp(p[%s, %s, %s, %s, %s, %s])" % arg
prog = "set_tcp(p[{}, {}, {}, {}, {}, {}])".format(*tcp)
self.secmon.send_program(prog)
def set_payload(self, weight):
def set_payload(self, weight, cog=None):
"""
set payload in Kg
cog is a vector x,y,z
if cog is not specified, then tool center point is used
"""
prog = "set_payload(%s)" % weight
if cog:
cog = list(cog)
cog.insert(0, weight)
prog = "set_payload({}, ({},{},{}))".format(*cog)
else:
prog = "set_payload(%s)" % weight
self.secmon.send_program(prog)
def set_gravity(self, vector):
@ -249,12 +250,26 @@ class URRobot(object):
return [jts["q_actual0"], jts["q_actual1"], jts["q_actual2"], jts["q_actual3"], jts["q_actual4"], jts["q_actual5"]]
def speedl(self, velocities, acc, min_time):
"""
move at given velocities until minimum min_time seconds
"""
vels = [round(i, self.max_float_length) for i in velocities]
vels.append(acc)
vels.append(min_time)
prog = "speedl([{},{},{},{},{},{}], a={}, t_min={})".format(*vels)
self.send_program(prog)
def speedj(self, velocities, acc, min_time):
"""
move at given joint velocities until minimum min_time seconds
"""
vels = [round(i, self.max_float_length) for i in velocities]
vels.append(acc)
vels.append(min_time)
prog = "speedj([{},{},{},{},{},{}], a={}, t_min={})".format(*vels)
self.send_program(prog)
def movel(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False):
"""
linear move
@ -274,6 +289,26 @@ class URRobot(object):
self.wait_for_move()
return self.getl()
def movep(self, tpose, acc=0.01, vel=0.01, radius=0, wait=True, relative=False):
"""
????
"""
if relative:
l = self.getl()
tpose = [v + l[i] for i, v in enumerate(tpose)]
tpose = [round(i, self.max_float_length) for i in tpose]
#prog = "movel(p%s, a=%s, v=%s)" % (tpose, acc, vel)
tpose.append(acc)
tpose.append(vel)
tpose.append(radius)
prog = "movep(p[{},{},{},{},{},{}], a={}, v={}, r={})".format(*tpose)
self.send_program(prog)
if not wait:
return None
else:
self.wait_for_move()
return self.getl()
def getl(self, wait=False):
"""
get TCP position
@ -399,10 +434,10 @@ class Robot(URRobot):
self.set_csys("Robot", m3d.Transform()) #identity
self.tracker = None
def set_tcp(self, x=0, y=0, z=0, rx=0, ry=0, rz=0):
if type(x) == m3d.Transform:
x = x.pose_vector
URRobot.set_tcp(self, x, y, z, rx, ry, rz)
def set_tcp(self, tcp):
if type(tcp) == m3d.Transform:
tcp = tcp.pose_vector
URRobot.set_tcp(self, tcp)
def add_csys(self, name, matrix):
self.csys_dict[name] = matrix