adeck/python-urx-getl-rt
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

small doc changes and intern renaming

Browse Source
This commit is contained in:
Olivier R-D 2013-04-21 10:00:54 +02:00
parent 1a0b33490f
commit d56b2a120c
2 changed files with 14 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
README
View File

@ -8,7 +8,7 @@ import urx
rob = urx.robot("192.168.0.100")
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.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()
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
@ -17,13 +17,10 @@ rob.stopj(a)
robot.movel(x,y,z,rx,ry,rz), wait=False)
sleep(0.1) #sleep first since the information may be outdated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:
sleep(0.01)
if not robot.is_program_running():
break
robot.stopl()
try:
@ -37,7 +34,7 @@ robot = Robot("192.168.1.1")
robot.set_tcp((0,0,0.23,0,0,0)
calib = mathd3d.Transform()
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.orient.rotate_yt(pi/2)

15
urx/urx.py
View File

@ -235,6 +235,7 @@ class URRobot(object):
finished = True
for i in range(0, 6):
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
break
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))
return pose
def get_pose(self, wait=False):
return self.getl(wait)
def movec(self, pose, pose_via, pose_to, acc, vel, wait=True):
"""
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.
"""
#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"
end = "end\n"
template = "movel(p[{},{},{},{},{},{}], a={}, v={}, r={})\n"
@ -313,7 +316,6 @@ class URRobot(object):
pose.append(0)
prog += template.format(*pose)
prog += end
print(prog)
self.send_program(prog)
if not wait:
return None
@ -448,7 +450,7 @@ class Robot(URRobot):
pose = self.get_transform()
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
"""
@ -460,6 +462,9 @@ class Robot(URRobot):
trans = self.csys_inv * math3d.Transform(pose)
return trans
def get_pose(self, wait=False):
return self.get_transform(wait)
def get_orientation(self, wait=False):
trans = self.get_transform(wait)
return trans.orient
@ -478,12 +483,12 @@ class Robot(URRobot):
else:
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
"""
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):
t = self.get_transform(wait)