63 lines
1.8 KiB
Python
63 lines
1.8 KiB
Python
"""
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Testing script that runs many of the urx methods, while attempting to keep robot pose around its starting pose
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"""
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from math import pi
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import time
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import urx
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import logging
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if __name__ == "__main__":
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rob = urx.Robot("192.168.1.6", logLevel=logging.WARNING)
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rob.set_tcp((0, 0, 0, 0, 0, 0))
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rob.set_payload(0.5, (0, 0, 0))
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try:
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l = 0.05
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v = 0.05
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a = 0.3
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r = 0.01
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print("Digital out 0 and 1 are: ", rob.get_digital_out(0), rob.get_digital_out(1) )
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j = rob.getj()
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print("Initial joint configuration is ", j)
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t = rob.get_transform()
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print("Transformation from base to tcp is: ", t)
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print("Translating in x")
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rob.translate((l, 0, 0), acc=a, vel=v)
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pose = rob.getl()
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print("robot tcp is at: ", pose)
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print("moving in z")
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pose[2] += l
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rob.movel(pose, acc=a, vel=v, wait=False)
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print("Waiting for end move")
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rob.wait_for_move()
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#FIXME add movep if controller version newer than XX
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print("Moving through several points with a radius")
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pose[0] -= l
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p1 = pose[:]
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pose[2] -= l
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p2 = pose[:]
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rob.movels([p1, p2], vel=v, acc=a, radius=r)
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print("rotate tcp around around base z ")
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t.orient.rotate_zb(pi / 8)
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rob.apply_transform(t, vel=v, acc=a)
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print("moving in tool z")
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rob.translate_tool((0, 0, l), vel=v, acc=a)
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print("moving in tool -z using speed command")
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rob.speedl_tool((0, 0, -v, 0, 0, 0), acc=a, min_time=3)
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print("Waiting 2 seconds2")
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time.sleep(2)
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print("stop robot")
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rob.stopj()
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print("Sending robot back to original position")
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rob.movej(j, acc=0.8, vel=0.2)
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finally:
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rob.cleanup()
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