adeck/python-urx-getl-rt
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simplify csys stuff

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Olivier R-D 2015-04-13 11:17:06 +02:00
parent 92a7c1812e
commit c81bcf5d35
1 changed files with 16 additions and 22 deletions
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38
urx/robot.py
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@ -38,7 +38,7 @@ class URRobot(object):
Rmq: A program sent to the robot i executed immendiatly and any running program is stopped Rmq: A program sent to the robot i executed immendiatly and any running program is stopped
""" """
def __init__(self, host, useRTInterface=False): def __init__(self, host, use_rt=False):
self.logger = logging.getLogger(self.__class__.__name__) self.logger = logging.getLogger(self.__class__.__name__)
self.host = host self.host = host
self.csys = None self.csys = None
@ -47,7 +47,7 @@ class URRobot(object):
self.secmon = ursecmon.SecondaryMonitor(self.host) # data from robot at 10Hz self.secmon = ursecmon.SecondaryMonitor(self.host) # data from robot at 10Hz
self.rtmon = None self.rtmon = None
if useRTInterface: if use_rt:
self.rtmon = self.get_realtime_monitor() self.rtmon = self.get_realtime_monitor()
# the next 3 values must be conservative! otherwise we may wait forever # the next 3 values must be conservative! otherwise we may wait forever
self.joinEpsilon = 0.01 # precision of joint movem used to wait for move completion self.joinEpsilon = 0.01 # precision of joint movem used to wait for move completion
@ -194,6 +194,14 @@ class URRobot(object):
wait until a move is completed wait until a move is completed
radius and target args are ignored radius and target args are ignored
""" """
try:
self._wait_for_move(radius, target)
except Exception as ex:
print("EXceptino!!!!!")
self.stopj()
raise(ex)
def _wait_for_move(self, radius=0, target=None):
self.logger.debug("Waiting for move completion") self.logger.debug("Waiting for move completion")
# it is necessary to wait since robot may takes a while to get into running state, # it is necessary to wait since robot may takes a while to get into running state,
for _ in range(3): for _ in range(3):
@ -406,13 +414,11 @@ class Robot(URRobot):
and includes support for calibrating the robot coordinate system and includes support for calibrating the robot coordinate system
""" """
def __init__(self, host, useRTInterface=False): def __init__(self, host, use_rt=False):
URRobot.__init__(self, host, useRTInterface) URRobot.__init__(self, host, use_rt)
self.default_linear_acceleration = 0.01 self.default_linear_acceleration = 0.01
self.default_linear_velocity = 0.01 self.default_linear_velocity = 0.01
self.csys_dict = {} self.csys = m3d.Transform()
self.csys = None
self.set_csys("Robot", m3d.Transform()) # identity
def set_tcp(self, tcp): def set_tcp(self, tcp):
""" """
@ -422,20 +428,12 @@ class Robot(URRobot):
tcp = tcp.pose_vector tcp = tcp.pose_vector
URRobot.set_tcp(self, tcp) URRobot.set_tcp(self, tcp)
def add_csys(self, name, matrix): def set_csys(self, transform):
self.csys_dict[name] = matrix
def get_csys_list(self):
return self.csys_dict
def set_csys(self, name, matrix=None):
""" """
Set reference corrdinate system to use Set reference corrdinate system to use
if matrix != None then a new csys is created if matrix != None then a new csys is created
""" """
if matrix: self.csys = transform
self.add_csys(name, matrix)
self.csys = self.csys_dict[name]
def set_orientation(self, orient, acc=None, vel=None, radius=0, wait=True): def set_orientation(self, orient, acc=None, vel=None, radius=0, wait=True):
""" """
@ -609,11 +607,7 @@ class Robot(URRobot):
vector = vector.list vector = vector.list
return URRobot.set_gravity(self, vector) return URRobot.set_gravity(self, vector)
def wait_for_move(self, radius, target): def _wait_for_move(self, radius, target):
"""
wait until a move is completed
if radius is not 0, returns when tcp is radius closed to target(using mathd3d dist method)
"""
self.logger.debug("Waiting for move completion") self.logger.debug("Waiting for move completion")
# it is necessary to wait since robot may takes a while to get into running state, # it is necessary to wait since robot may takes a while to get into running state,
for _ in range(3): for _ in range(3):