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use movep as default, small cleanups many places

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This commit is contained in:
Olivier R-D 2013-06-19 09:20:33 +02:00
parent 3f728e3e02
commit d497364919
4 changed files with 70 additions and 63 deletions
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27
examples/test_movep.py
View File

@ -1,22 +1,39 @@
import time
import urx
import logging
if __name__ == "__main__":
rob = urx.Robot("192.168.128.120", logLevel=logging.INFO)
try:
l = 0.05
v = 0.05
a = 0.3
r = 0.005
l = 0.1
v = 0.07
a = 0.1
r = 0.05
pose = rob.getl()
pose[2] += l
rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
while True:
p = rob.getl(wait=True)
if p[2] > pose[2] - 0.05:
break
pose[1] += l
rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
while True:
p = rob.getl(wait=True)
if p[1] > pose[1] - 0.05:
break
pose[2] -= l
rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
while True:
p = rob.getl(wait=True)
if p[2] < pose[2] + 0.05:
break
pose[1] -= l
rob.movep(pose, acc=a, vel=v, radius=0, wait=False)
rob.movep(pose, acc=a, vel=v, radius=0, wait=True)
finally:
rob.cleanup()

7
urx/tracker.py
View File

@ -1,3 +1,10 @@
"""
tracks moves a UR robot over the UR real-time port
"""
__author__ = "Olivier Roulet-Dubonnet"
__copyright__ = "Copyright 2011-2013, Sintef Raufoss Manufacturing"
__credits__ = ["Olivier Roulet-Dubonnet"]
__license__ = "GPLv3"
import time
from multiprocessing import Process, Queue, Event

9
urx/ursecmon.py
View File

@ -233,8 +233,7 @@ class SecondaryMonitor(Thread):
check program execution status in the secondary client data packet we get from the robot
This interface uses only data from the secondary client interface (see UR doc)
Only the last connected client is the primary client,
so this is not guaranted and we cannot rely on information only
send to the primary client(like program execution start ?!?!?)
so this is not guaranted and we cannot rely on information to the primary client.
"""
while not self._trystop:
@ -278,13 +277,13 @@ class SecondaryMonitor(Thread):
returns something that looks like a packet, nothing is guaranted
"""
while True:
#self.logger.debug("data queue size is: {}".format(len(self._dataqueue)))
self.logger.debug("data queue size is: {}".format(len(self._dataqueue)))
ans = self._parser.find_first_packet(self._dataqueue[:])
if ans:
self._dataqueue = ans[1]
return ans[0]
else:
#self.logger.debug("Could not find packet in received data")
self.logger.debug("Could not find packet in received data")
tmp = self._s_secondary.recv(1024)
self._dataqueue += tmp
@ -339,6 +338,8 @@ class SecondaryMonitor(Thread):
def cleanup(self):
self._trystop = True
self.join()
#with self._dataEvent: #wake up any thread that may be waiting for data before we close. Should we do that?
#self._dataEvent.notifyAll()
if self._s_secondary:
with self._prog_queue_lock:
self._s_secondary.close()

90
urx/urx.py
View File

@ -6,22 +6,19 @@ http://support.universal-robots.com/URRobot/RemoteAccess
from __future__ import absolute_import # necessary for import tricks to work with python2
__author__ = "Olivier Roulet-Dubonnet"
__copyright__ = "Copyright 2011-2013, Sintef Raufoss Manufacturing Roulet-Dubonnet"
__copyright__ = "Copyright 2011-2013, Sintef Raufoss Manufacturing"
__credits__ = ["Olivier Roulet-Dubonnet"]
__license__ = "GPLv3"
import time
import logging
m3d = True
MATH3D = True
try:
import math3d as m3d
import numpy as np
except ImportError:
m3d = False
MATH3D = False
print("pymath3d library could not be found on this computer, disabling use of matrices")
from urx import urrtmon
@ -58,9 +55,7 @@ class URRobot(object):
else:
self.rtmon = None
#the next 3 values must be conservative! otherwise we may wait forever
self.jointEpsilon = 0.05 # precision of joint movem used to wait for move completion
self.linearEpsilon = 0.0005 # precision of linear movement, used to wait for move completion
self.radialEpsilon = 0.05 # precision of radial movement, used to wait for move completion
self.joinEpsilon = 0.01 # precision of joint movem used to wait for move completion
#URScript is limited in the character length of floats it accepts
self.max_float_length = 6 # FIXME: check max length!!!
if useRTInterface:
@ -227,21 +222,29 @@ class URRobot(object):
self.wait_for_move()
return self.getj()
def wait_for_move(self):
time.sleep(0.5)# it is important to sleep since robot may takes a while to get into running state, for a physical move 0.5s is very low
"""
wait until a move is completed
"""
# it is important to sleep since robot may takes a while to get into running state,
# for a physical move 0.5s is very short
for i in range(3):
self.secmon.wait()
while True:
if not self.is_running():
raise RobotException("Robot stopped")
jts = self.secmon.get_joint_data(wait=True)
finished = True
for i in range(0, 6):
if abs(jts["q_actual%s"%i] - jts["q_target%s"%i]) > self.radialEpsilon:
#Rmq: q_target is an interpolated target we have no control over
if abs(jts["q_actual%s"%i] - jts["q_target%s"%i]) > self.joinEpsilon:
#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
break
if finished and not self.secmon.is_program_running():
return
def getj(self, wait=False):
"""
get joints position
@ -338,14 +341,14 @@ class URRobot(object):
self.wait_for_move()
return self.getl()
def movels(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True):
def moveps(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True):
"""
Concatenate several movel commands and applies a blending radius
pose_list is a list of pose.
"""
header = "def myProg():\n"
end = "end\n"
template = "movel(p[{},{},{},{},{},{}], a={}, v={}, r={})\n"
template = "movep(p[{},{},{},{},{},{}], a={}, v={}, r={})\n"
prog = header
for idx, pose in enumerate(pose_list):
pose.append(acc)
@ -372,31 +375,6 @@ class URRobot(object):
def stop(self):
self.stopj()
def _eq(self, l1, l2):
"""
robot joints precision is 0.01, donot give anything smaller!!!
"""
for i in range(0, len(l1)):
if abs(l1[i] -l2[i]) > self.jointEpsilon:
return False
return True
def _eqpose(self, l1, l2):
"""
epsilonl is for x,y,z
epsilonr is for a,b,c
robot joints precision is 0.01, do not give anything smaller!!!
"""
for i in range(0, 3):
if abs(l1[i] - l2[i]) > self.linearEpsilon:
#print "param: ", i, "val: ", l1[i], "-", l2[i] , "=", abs(l1[i] -l2[i]), " is not under ", self.linearEpsilon
return False
for i in range(3, 6):
if abs(l1[i] - l2[i]) > self.radialEpsilon:
#print "param: ", i, "val: ", l1[i], "-", l2[i] , "=", abs(l1[i] -l2[i]), " is not under ", self.radialEpsilon
return False
return True
def cleanup(self):
self.logger.info("Closing sockets to robot")
self.secmon.cleanup()
@ -488,32 +466,36 @@ class Robot(URRobot):
trans = m3d.Transform(self.get_orientation(), m3d.Vector(vect))
return self.apply_transform(trans, acc, vel, wait)
def apply_transform(self, trans, acc=None, vel=None, wait=True):
def apply_transform(self, trans, acc=None, vel=None, wait=True, process=True):
"""
move tcp to point and orientation defined by a transformation
if process is True, movep is used instead of movel
"""
if not acc:
acc = self.default_linear_acceleration
if not vel:
vel = self.default_linear_velocity
t = self.csys * trans
pose = URRobot.movel(self, t.pose_vector, acc, vel, wait)
if process:
pose = URRobot.movep(self, t.pose_vector, acc=acc, vel=vel, wait=wait)
else:
pose = URRobot.movel(self, t.pose_vector, acc=acc, vel=vel, wait=wait)
if pose != None : #movel does not return anything when wait is False
return self.csys_inv * m3d.Transform(pose)
def add_transform_base(self, trans, acc=None, vel=None, wait=True):
def add_transform_base(self, trans, acc=None, vel=None, wait=True, process=True):
"""
Add transform expressed in base coordinate
"""
pose = self.get_transform()
return self.apply_transform(trans * pose, acc, vel, wait)
return self.apply_transform(trans * pose, acc, vel, wait, process)
def add_transform_tool(self, trans, acc=None, vel=None, wait=True):
def add_transform_tool(self, trans, acc=None, vel=None, wait=True, process=True):
"""
Add transform expressed in tool coordinate
"""
pose = self.get_transform()
return self.apply_transform(pose * trans, acc, vel, wait)
return self.apply_transform(pose * trans, acc, vel, wait, process)
def get_transform(self, wait=False):
"""
@ -558,22 +540,22 @@ class Robot(URRobot):
def movel(self, pose, acc=None, vel=None, wait=True, relative=False, radius=0.01):
"""
move linear to given pose in current csys
if pose is a list of poses then movels is called
if pose is a list of poses then moveps is called
"""
if type(pose[0]) == list:
return self.movels(pose, acc, vel, radius, wait)
if type(pose[0]) in (list, tuple):
return self.moveps(pose, acc, vel, radius, wait)
t = m3d.Transform(pose)
if relative:
return self.add_transform_base(t, acc, vel, wait)
return self.add_transform_base(t, acc, vel, wait, process=False)
else:
return self.apply_transform(t, acc, vel, wait)
return self.apply_transform(t, acc, vel, wait, process=False)
def movel_tool(self, pose, acc=None, vel=None, wait=True):
"""
move linear to given pose in tool coordinate
"""
t = m3d.Transform(pose)
self.add_transform_tool(t, acc, vel, wait)
self.add_transform_tool(t, acc, vel, wait, process=False)
def getl(self, wait=False):
"""
@ -582,9 +564,9 @@ class Robot(URRobot):
t = self.get_transform(wait)
return t.pose_vector
def movels(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True):
def moveps(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 movep commands and applies a blending radius
pose_list is a list of pose.
"""
new_poses = []
@ -609,7 +591,7 @@ class Robot(URRobot):
return t
if not m3d:
if not MATH3D:
Robot = URRobot
if __name__ == "__main__":