adeck/python-urx-getl-rt
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small doc changes and intern renaming

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Olivier R-D 2013-04-21 10:00:54 +02:00
parent 1a0b33490f
commit d56b2a120c
2 changed files with 14 additions and 12 deletions
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11
README
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@ -8,7 +8,7 @@ import urx
rob = urx.robot("192.168.0.100") rob = urx.robot("192.168.0.100")
rob.set_tcp((x=01, z=0.232)) rob.set_tcp((x=01, z=0.232))
rob.movej((1,2,3,4,5,6), a, v) # move in robot internal coordinate system rob.movej((1,2,3,4,5,6), a, v) # move in robot internal coordinate system
rob.movel((x,y,z,a,b,c), a, v) rob.movel((x,y,z,rx,ry,rz), a, v)
print "Current tool pose is: ", rob.getl() print "Current tool pose is: ", rob.getl()
rob.movel((0.1, 0, 0, 0, 0, 0), a, v, relative=true)# move relative to current pose rob.movel((0.1, 0, 0, 0, 0, 0), a, v, relative=true)# move relative to current pose
rob.translate((0.1, 0, 0), a, v) #move tool and keep orientation rob.translate((0.1, 0, 0), a, v) #move tool and keep orientation
@ -17,13 +17,10 @@ rob.stopj(a)
robot.movel(x,y,z,rx,ry,rz), wait=False) robot.movel(x,y,z,rx,ry,rz), wait=False)
sleep(0.1) #sleep first since the information may be outdated sleep(0.1) #sleep first since the information may be outdated
while True :
if robot.is_program_running():
break
robot.movel(x,y,z,a,b,c), wait=False)
while.robot.getForce() < 50: while.robot.getForce() < 50:
sleep(0.01) sleep(0.01)
if not robot.is_program_running():
break
robot.stopl() robot.stopl()
try: try:
@ -37,7 +34,7 @@ robot = Robot("192.168.1.1")
robot.set_tcp((0,0,0.23,0,0,0) robot.set_tcp((0,0,0.23,0,0,0)
calib = mathd3d.Transform() calib = mathd3d.Transform()
calib.orient.rotate_zb(pi/4) #just an example calib.orient.rotate_zb(pi/4) #just an example
robot.set_calibration_matrix(calib) #set robot corrdinate system robot.set_csys("mycalib", calib) #add new corrdinate system and set it as default
trans = robot.get_transform() # get current transformation matrix (tool to base) trans = robot.get_transform() # get current transformation matrix (tool to base)
trans.orient.rotate_yt(pi/2) trans.orient.rotate_yt(pi/2)

15
urx/urx.py
View File

@ -235,6 +235,7 @@ class URRobot(object):
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_target%s"%i]) > self.radialEpsilon: if abs(jts["q_actual%s"%i] - jts["q_target%s"%i]) > self.radialEpsilon:
#self.logger.warn("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 finished = False
break break
if finished and not self.secmon.is_program_running(): if finished and not self.secmon.is_program_running():
@ -276,6 +277,9 @@ class URRobot(object):
self.logger.debug("Current pose from robot: " + str(pose)) self.logger.debug("Current pose from robot: " + str(pose))
return pose return pose
def get_pose(self, wait=False):
return self.getl(wait)
def movec(self, pose, pose_via, pose_to, acc, vel, wait=True): def movec(self, pose, pose_via, pose_to, acc, vel, wait=True):
""" """
Move Circular: Move to position (circular in tool-space) Move Circular: Move to position (circular in tool-space)
@ -298,7 +302,6 @@ class URRobot(object):
several movel commands must be send as one program in order for radius blending to work. several movel commands must be send as one program in order for radius blending to work.
""" """
#TODO: This is could easily be implemented in movel by detecting type of the joint variable #TODO: This is could easily be implemented in movel by detecting type of the joint variable
# can be implemented by sending a complete urscript program calling several movel in a row with a radius
header = "def myProg():\n" header = "def myProg():\n"
end = "end\n" end = "end\n"
template = "movel(p[{},{},{},{},{},{}], a={}, v={}, r={})\n" template = "movel(p[{},{},{},{},{},{}], a={}, v={}, r={})\n"
@ -313,7 +316,6 @@ class URRobot(object):
pose.append(0) pose.append(0)
prog += template.format(*pose) prog += template.format(*pose)
prog += end prog += end
print(prog)
self.send_program(prog) self.send_program(prog)
if not wait: if not wait:
return None return None
@ -448,7 +450,7 @@ class Robot(URRobot):
pose = self.get_transform() pose = self.get_transform()
return self.apply_transform(trans * pose, acc, vel, wait) return self.apply_transform(trans * pose, acc, vel, wait)
def add_transform_t(self, trans, acc=None, vel=None, wait=True): def add_transform_tool(self, trans, acc=None, vel=None, wait=True):
""" """
Add transform expressed in tool coordinate Add transform expressed in tool coordinate
""" """
@ -460,6 +462,9 @@ class Robot(URRobot):
trans = self.csys_inv * math3d.Transform(pose) trans = self.csys_inv * math3d.Transform(pose)
return trans return trans
def get_pose(self, wait=False):
return self.get_transform(wait)
def get_orientation(self, wait=False): def get_orientation(self, wait=False):
trans = self.get_transform(wait) trans = self.get_transform(wait)
return trans.orient return trans.orient
@ -478,12 +483,12 @@ class Robot(URRobot):
else: else:
self.apply_transform(t, acc, vel, wait) self.apply_transform(t, acc, vel, wait)
def movel_t(self, pose, acc=None, vel=None, wait=True): def movel_tool(self, pose, acc=None, vel=None, wait=True):
""" """
move linear to given pose in tool coordinate move linear to given pose in tool coordinate
""" """
t = math3d.Transform(pose) t = math3d.Transform(pose)
self.add_transform_t(t, acc, vel, wait) self.add_transform_tool(t, acc, vel, wait)
def getl(self, wait=False): def getl(self, wait=False):
t = self.get_transform(wait) t = self.get_transform(wait)