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wait_for_move method tested

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Olivier R-D
2013-04-03 14:20:26 +02:00
parent 8b910a5d42
commit c60db50c43
1 changed files with 5 additions and 12 deletions
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17
urx/urx.py
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@@ -221,18 +221,18 @@ class URRobot(object):
return self.getj() return self.getj()
def wait_for_move(self): def wait_for_move(self):
time.sleep(0.05)# it is important to sleep since robot may takes a while to get into running state time.sleep(0.2)# it is important to sleep since robot may takes a while to get into running state
while True: while True:
if not self.is_running(): if not self.is_running():
raise RobotException("Robot stopped") raise RobotException("Robot stopped")
jts = self.secmon.get_joint_data(wait=True) jts = self.secmon.get_joint_data(wait=True)
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_targets%s"%i]) > self.radialEpsilon: if abs(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():
return return
def getj(self, wait=False): def getj(self, wait=False):
""" """
@@ -283,8 +283,6 @@ class URRobot(object):
self.wait_for_move() self.wait_for_move()
return self.getl() return self.getl()
def movels(self, pose_list, acc, vel , radius, wait=True): def movels(self, pose_list, acc, vel , radius, wait=True):
""" """
where pose_list is a list of pose. where pose_list is a list of pose.
@@ -307,11 +305,6 @@ class URRobot(object):
self.wait_for_move() self.wait_for_move()
return self.getl() return self.getl()
def stopl(self, acc = 0.5): def stopl(self, acc = 0.5):
self.send_program("stopl(%s)" % acc) self.send_program("stopl(%s)" % acc)
@@ -416,7 +409,7 @@ class Robot(URRobot):
vel = self.default_linear_velocity vel = self.default_linear_velocity
t = self.calibration * trans t = self.calibration * trans
pose = URRobot.movel(self, t.pose_vector, acc, vel, wait) pose = URRobot.movel(self, t.pose_vector, acc, vel, wait)
if pose: #movel does not return anything when wait is False if pose != None : #movel does not return anything when wait is False
return self.inverse * math3d.Transform(pose) return self.inverse * math3d.Transform(pose)
def add_transform_b(self, trans, acc=None, vel=None, wait=True): def add_transform_b(self, trans, acc=None, vel=None, wait=True):