deep cleanup, probably broken
This commit is contained in:
Olivier R-D
parent
0c309a99dd
commit
f8532d36b9
@ -297,7 +297,6 @@ class SecondaryMonitor(Thread):
|
||||
with self._dictLock:
|
||||
return self._dict.copy()
|
||||
|
||||
|
||||
def getJointData(self, wait=False):
|
||||
if wait:
|
||||
self.wait()
|
||||
|
||||
174
urx/urx.py
174
urx/urx.py
@ -40,7 +40,7 @@ class URRobot(object):
|
||||
programs are send to port 3002
|
||||
data is read from secondary interface(10Hz?) and real-time interface(125Hz) (called Matlab interface in documentation)
|
||||
Since parsing the RT interface uses som CPU, and does not support all robots versions, it is disabled by default
|
||||
The RT interfaces is only used for the getForce related methods
|
||||
The RT interfaces is only used for the get_force related methods
|
||||
Rmq: A program sent to the robot i executed immendiatly and any running program is stopped
|
||||
"""
|
||||
def __init__(self, host, useRTInterface=False, logLevel=logging.WARN):
|
||||
@ -75,28 +75,28 @@ class URRobot(object):
|
||||
def __str__(self):
|
||||
return self.__repr__()
|
||||
|
||||
def isRunning(self): # legacy
|
||||
def is_running(self): # legacy
|
||||
return self.secmon.running
|
||||
|
||||
def isProgramRunning(self):
|
||||
return self.secmon.isProgramRunning()
|
||||
def is_program_running(self):
|
||||
return self.secmon.is_program_running()
|
||||
|
||||
def sendProgram(self, prog):
|
||||
self.secmon.sendProgram(prog)
|
||||
def send_program(self, prog):
|
||||
self.secmon.send_program(prog)
|
||||
|
||||
def getTCPForce(self, wait=True):
|
||||
def get_tcp_force(self, wait=True):
|
||||
"""
|
||||
return measured force in TCP
|
||||
if wait==True, waits for next packet before returning
|
||||
"""
|
||||
return self.rtmon.getTCFForce(wait)
|
||||
|
||||
def getForce(self, wait=True):
|
||||
def get_force(self, wait=True):
|
||||
"""
|
||||
length of force vector returned by getTCPForce
|
||||
length of force vector returned by get_tcp_force
|
||||
if wait==True, waits for next packet before returning
|
||||
"""
|
||||
tcpf = self.getTCPForce( wait)
|
||||
tcpf = self.get_tcp_force( wait)
|
||||
force = 0
|
||||
for i in tcpf:
|
||||
force += i**2
|
||||
@ -108,7 +108,7 @@ class URRobot(object):
|
||||
"""
|
||||
self.movej(self.start_pose)
|
||||
|
||||
def setTcp(self, x=0, y=0, z=0, a=0, b=0, c=0):
|
||||
def set_tcp(self, x=0, y=0, z=0, a=0, b=0, c=0):
|
||||
"""
|
||||
"""
|
||||
if type(x) in (list, tuple):
|
||||
@ -119,30 +119,30 @@ class URRobot(object):
|
||||
else:
|
||||
arg = (x, y, z, a, b, c)
|
||||
prog = "set_tcp(p[%s, %s, %s, %s, %s, %s])" % arg
|
||||
self.secmon.sendProgram(prog)
|
||||
self.secmon.send_program(prog)
|
||||
|
||||
def setPayload(self, weight):
|
||||
def set_payload(self, weight):
|
||||
"""
|
||||
set payload in Kg
|
||||
"""
|
||||
prog = "set_payload(%s)" % weight
|
||||
self.secmon.sendProgram(prog)
|
||||
self.secmon.send_program(prog)
|
||||
|
||||
def setGravity(self, vector):
|
||||
def set_gravity(self, vector):
|
||||
"""
|
||||
set direction of gravity
|
||||
"""
|
||||
prog = "set_gravity(%s)" % list(vector)
|
||||
self.secmon.sendProgram(prog)
|
||||
self.secmon.send_program(prog)
|
||||
|
||||
def sendMessage(self, msg):
|
||||
def send_message(self, msg):
|
||||
"""
|
||||
send message to the GUI log tab on the robot controller
|
||||
"""
|
||||
prog = "textmsg(%s)" % msg
|
||||
self.secmon.sendProgram(prog)
|
||||
self.secmon.send_program(prog)
|
||||
|
||||
def setDigitalOut(self, output, val):
|
||||
def set_digital_out(self, output, val):
|
||||
"""
|
||||
set digital output. val is a bool
|
||||
"""
|
||||
@ -150,9 +150,9 @@ class URRobot(object):
|
||||
val = "True"
|
||||
else:
|
||||
val = "False"
|
||||
self.secmon.sendProgram('digital_out[%s]=%s' % (output, val))
|
||||
self.secmon.send_program('digital_out[%s]=%s' % (output, val))
|
||||
|
||||
def getAnalogInputs(self):
|
||||
def get_analog_inputs(self):
|
||||
"""
|
||||
get analog input
|
||||
"""
|
||||
@ -160,21 +160,21 @@ class URRobot(object):
|
||||
return data["MasterBoardData"]["analogInput0"], data["MasterBoardData"]["analogInput1"]
|
||||
|
||||
|
||||
def getAnalogInput(self, nb):
|
||||
def get_analog_in(self, nb):
|
||||
"""
|
||||
get analog input
|
||||
"""
|
||||
data = self.secmon.getAllData()
|
||||
return data["MasterBoardData"]["analogInput" + str(nb)]
|
||||
|
||||
def getDigitalInputBits(self):
|
||||
def get_digital_inBits(self):
|
||||
"""
|
||||
get digital output
|
||||
"""
|
||||
data = self.secmon.getAllData()
|
||||
return data["MasterBoardData"]["digitalInputBits"]
|
||||
|
||||
def getDigitalInput(self, nb):
|
||||
def get_digital_in(self, nb):
|
||||
"""
|
||||
get digital output
|
||||
"""
|
||||
@ -203,20 +203,14 @@ class URRobot(object):
|
||||
set analog output, val is a float
|
||||
"""
|
||||
prog = "set_analog_output(%s, %s)" % (output, val)
|
||||
self.secmon.sendProgram(prog)
|
||||
self.secmon.send_program(prog)
|
||||
|
||||
def setToolVoltage(self, val):
|
||||
"""
|
||||
set voltage to be delivered to the tool, val is 0, 12 or 24
|
||||
"""
|
||||
prog = "set_tool_voltage(%s)" % (val)
|
||||
self.secmon.sendProgram(prog)
|
||||
|
||||
def movejrel(self, joints, acc=0.1, vel=0.05, wait=True):
|
||||
"""
|
||||
relative joint move
|
||||
"""
|
||||
self.movej(joints, acc, vel, wait, relative=True)
|
||||
self.secmon.send_program(prog)
|
||||
|
||||
def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False):
|
||||
"""
|
||||
@ -226,17 +220,26 @@ class URRobot(object):
|
||||
l = self.getj()
|
||||
joints = [v + l[i] for i, v in enumerate(joints)]
|
||||
prog = "movej(%s, a=%s, v=%s)" % (list(joints), acc, vel)
|
||||
self.sendProgram(prog)
|
||||
self.send_program(prog)
|
||||
if not wait:
|
||||
return None
|
||||
else:
|
||||
self.wait_for_move()
|
||||
return self.getj()
|
||||
|
||||
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
|
||||
while True:
|
||||
if not self.isRunning():
|
||||
if not self.is_running():
|
||||
raise RobotException("Robot stopped")
|
||||
currentjoints = self.getj(wait=True)
|
||||
if self._eq(currentjoints, joints) and not self.secmon.isProgramRunning():
|
||||
return currentjoints
|
||||
jts = self.secmon.getJointData(wait=True)
|
||||
finished = True
|
||||
for i in range(0, 6):
|
||||
if abs(jts["q_actual%s"%i] - jts["q_targets%s"%i]) > self.radialEpsilon:
|
||||
finished = False
|
||||
break
|
||||
if finished and not self.secmon.is_program_running():
|
||||
return
|
||||
|
||||
def getj(self, wait=False):
|
||||
"""
|
||||
@ -245,13 +248,6 @@ class URRobot(object):
|
||||
jts = self.secmon.getJointData(wait)
|
||||
return [jts["q_actual0"], jts["q_actual1"], jts["q_actual2"], jts["q_actual3"], jts["q_actual4"], jts["q_actual5"]]
|
||||
|
||||
|
||||
def movelrel(self, tpose, acc=0.01, vel=0.01, wait=True):
|
||||
"""
|
||||
relative linear move
|
||||
"""
|
||||
return self.movel(tpose, acc, vel, wait, relative=True)
|
||||
|
||||
def movel(self, tpose, acc=0.01, vel=0.01, wait=True, relative=False):
|
||||
"""
|
||||
linear move
|
||||
@ -261,17 +257,12 @@ class URRobot(object):
|
||||
tpose = [v + l[i] for i, v in enumerate(tpose)]
|
||||
tpose = [round(i, 2) for i in tpose]
|
||||
prog = "movel(p%s, a=%s, v=%s)" % (tpose, acc, vel)
|
||||
self.sendProgram(prog)
|
||||
self.send_program(prog)
|
||||
if not wait:
|
||||
return None
|
||||
else:
|
||||
time.sleep(0.05)# it is important to sleep since robot may takes a while to get into running state
|
||||
while True:
|
||||
if not self.isRunning():
|
||||
raise RobotException("Robot stopped")
|
||||
pose = self.getl(wait=True)
|
||||
if self._eqpose(pose, tpose) and not self.secmon.isProgramRunning():
|
||||
return pose
|
||||
self.wait_for_move()
|
||||
return self.getl()
|
||||
|
||||
def getl(self, wait=False):
|
||||
"""
|
||||
@ -292,10 +283,10 @@ class URRobot(object):
|
||||
raise NotImplementedError
|
||||
|
||||
def stopl(self, acc = 0.5):
|
||||
self.sendProgram("stopl(%s)" % acc)
|
||||
self.send_program("stopl(%s)" % acc)
|
||||
|
||||
def stopj(self, acc = 1.5):
|
||||
self.sendProgram("stopj(%s)" % acc)
|
||||
self.send_program("stopj(%s)" % acc)
|
||||
|
||||
def stop(self):
|
||||
self.stopj()
|
||||
@ -333,31 +324,26 @@ class URRobot(object):
|
||||
|
||||
def set_freedrive(self, val):
|
||||
if val:
|
||||
self.sendProgram("set robotmode freedrive")
|
||||
self.send_program("set robotmode freedrive")
|
||||
else:
|
||||
self.sendProgram("set robotmode run")
|
||||
self.send_program("set robotmode run")
|
||||
|
||||
def set_simulation(self, val):
|
||||
if val:
|
||||
self.sendProgram("set sim")
|
||||
self.send_program("set sim")
|
||||
else:
|
||||
self.sendProgram("set real")
|
||||
self.send_program("set real")
|
||||
|
||||
|
||||
|
||||
class Robot(object):
|
||||
class Robot(URRobot):
|
||||
"""
|
||||
Generic Python interface to an industrial robot.
|
||||
Compare to the URRobot class, this class adds the possibilty to work directly with matrices
|
||||
and includes support for calibrating the robot coordinate system
|
||||
and style portet to PEP 8
|
||||
"""
|
||||
def __init__(self, host, useRTInterface=False, logLevel = logging.WARN):
|
||||
self.robot = URRobot(host, useRTInterface, logLevel=logLevel)
|
||||
self.logger = logging.getLogger(self.__class__.__name__)
|
||||
if len(logging.root.handlers) == 0: #dirty hack
|
||||
logging.basicConfig()
|
||||
self.logger.setLevel(logLevel)
|
||||
URRobot.__init__(self, host, useRTInterface, logLevel=logLevel)
|
||||
self.default_linear_acceleration = 0.01
|
||||
self.default_linear_velocity = 0.01
|
||||
|
||||
@ -365,10 +351,10 @@ class Robot(object):
|
||||
self.inverse = self.calibration.inverse()
|
||||
self.tracker = None
|
||||
|
||||
def set_tcp(self, tcp):
|
||||
if type(tcp) == math3d.Transform:
|
||||
tcp = tcp.pose_vector
|
||||
self.robot.setTcp(tcp)
|
||||
def set_tcp(self, x=0, y=0, z=0, a=0, b=0, c=0):
|
||||
if type(x) == math3d.Transform:
|
||||
x = x.pose_vector
|
||||
URRobot.set_tcp(self, x, y, z, a, b, c)
|
||||
|
||||
def set_calibration_matrix(self, matrix):
|
||||
self.calibration = matrix
|
||||
@ -393,16 +379,13 @@ class Robot(object):
|
||||
trans = math3d.Transform(self.get_orientation(), math3d.Vector(vect))
|
||||
return self.apply_transform(trans, acc, vel, wait)
|
||||
|
||||
def stop(self):
|
||||
self.robot.stop()
|
||||
|
||||
def apply_transform(self, trans, acc=None, vel=None, wait=True):
|
||||
if not acc:
|
||||
acc = self.default_linear_acceleration
|
||||
if not vel:
|
||||
vel = self.default_linear_velocity
|
||||
t = self.calibration * trans
|
||||
pose = self.robot.movel(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
|
||||
return self.inverse * math3d.Transform(pose)
|
||||
|
||||
@ -421,7 +404,7 @@ class Robot(object):
|
||||
return self.apply_transform(pose * trans, acc, vel, wait)
|
||||
|
||||
def get_transform(self, wait=False):
|
||||
pose = self.robot.getl(wait)
|
||||
pose = URRobot.getl(self, wait)
|
||||
trans = self.inverse * math3d.Transform(pose)
|
||||
return trans
|
||||
|
||||
@ -454,55 +437,16 @@ class Robot(object):
|
||||
t = self.get_transform(wait)
|
||||
return t.pose_vector
|
||||
|
||||
def is_running(self):
|
||||
return self.robot.isRunning()
|
||||
|
||||
def is_program_running(self):
|
||||
return self.robot.isProgramRunning()
|
||||
|
||||
def set_payload(self, weight):
|
||||
return self.robot.setPayload(weight)
|
||||
|
||||
def set_gravity(self, vector):
|
||||
if type(vector) == math3d.Vector:
|
||||
vector = vector.list
|
||||
return self.robot.setGravity(vector)
|
||||
|
||||
def set_digital_out(self, output, val):
|
||||
return self.robot.setDigitalOut(output, val)
|
||||
|
||||
def get_digital_out(self, nb):
|
||||
self.robot.getDigitalOutput(nb)
|
||||
|
||||
def get_digital_in(self, nb):
|
||||
return self.robot.getDigitalInput(nb)
|
||||
|
||||
def get_analog_in(self, nb):
|
||||
return self.robot.getAnalogInput(nb)
|
||||
|
||||
def set_freedrive(self, val):
|
||||
self.robot.set_freedrive(val)
|
||||
|
||||
def set_simulation(self, val):
|
||||
self.robot.set_simulation(val)
|
||||
|
||||
def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False):
|
||||
"""
|
||||
wrapper around the movej command in URRobot
|
||||
"""
|
||||
self.robot.movej(joints, acc, vel, wait, relative)
|
||||
|
||||
def getj(self, wait=False):
|
||||
return self.robot.getj(wait)
|
||||
|
||||
def cleanup(self):
|
||||
self.robot.cleanup()
|
||||
return URRobot.set_gravity(self, vector)
|
||||
|
||||
def get_tracker(self):
|
||||
"""
|
||||
return an object able to track robot move for logging
|
||||
"""
|
||||
t = tracker.Tracker(self.robot.host)
|
||||
t = tracker.Tracker(self.host)
|
||||
t.set_calibration_matrix(self.calibration)
|
||||
return t
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user