universalrobots/single_ursim_control
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Fixed mixed up parameters
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Pünkösd Marcell 2021-04-26 00:25:30 +02:00
parent 80642aca05
commit 0694706dc4
1 changed files with 44 additions and 44 deletions
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88
single_ursim_control/plugins/ur_rtde_plugin.py
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@ -50,42 +50,6 @@ class CombinedRobotInterface:
class URRTDEMoveJCommand(AbstractCommand):
def __init__(self,
logger: logging.Logger,
robot: CombinedRobotInterface,
pose: List[float],
speed: float,
acceleration: float):
# TODO: validations
self._logger = logger
self._robot = robot
self._pose = pose
self._speed = speed
self._acceleration = acceleration
def execute(self):
self._logger.debug(f"Moving robot arm: MoveJ to {self._pose} s: {self._speed} a: {self._acceleration}")
self._robot.robot_c.moveJ(self._pose, self._speed, self._acceleration)
self._logger.debug("Done moving")
def abort(self):
# TODO
pass
def describe(self) -> dict:
return {
"command": "moveJ",
"params": {
"pose": self._pose,
"speed": self._speed,
"acceleration": self._acceleration
}
}
class URRTDEMoveLCommand(AbstractCommand):
def __init__(self,
logger: logging.Logger,
robot: CombinedRobotInterface,
@ -101,8 +65,44 @@ class URRTDEMoveLCommand(AbstractCommand):
self._acceleration = acceleration
def execute(self):
self._logger.debug(f"Moving robot arm: MoveL to {self._q} s: {self._speed} a: {self._acceleration}")
self._robot.robot_c.moveL(self._q, self._speed, self._acceleration)
self._logger.debug(f"Moving robot arm: MoveJ to {self._q} s: {self._speed} a: {self._acceleration}")
self._robot.robot_c.moveJ(self._q, self._speed, self._acceleration)
self._logger.debug("Done moving")
def abort(self):
# TODO
pass
def describe(self) -> dict:
return {
"command": "moveJ",
"params": {
"q": self._q,
"speed": self._speed,
"acceleration": self._acceleration
}
}
class URRTDEMoveLCommand(AbstractCommand):
def __init__(self,
logger: logging.Logger,
robot: CombinedRobotInterface,
pose: List[float],
speed: float,
acceleration: float):
# TODO: validations
self._logger = logger
self._robot = robot
self._pose = pose
self._speed = speed
self._acceleration = acceleration
def execute(self):
self._logger.debug(f"Moving robot arm: MoveL to {self._pose} s: {self._speed} a: {self._acceleration}")
self._robot.robot_c.moveL(self._pose, self._speed, self._acceleration)
self._logger.debug("Done moving")
def abort(self):
@ -113,7 +113,7 @@ class URRTDEMoveLCommand(AbstractCommand):
return {
"command": "moveL",
"params": {
"q": self._q,
"pose": self._pose,
"speed": self._speed,
"acceleration": self._acceleration
}
@ -126,8 +126,8 @@ class URRTDEMoveJCompiler(AbstractCommandCompiler):
self._logger = logger
self._robot = robot
def compile(self, pose: List[float], speed: float = 1.05, acceleration: float = 1.4) -> AbstractCommand:
return URRTDEMoveJCommand(self._logger, self._robot, pose, speed, acceleration)
def compile(self, q: List[float], speed: float = 1.05, acceleration: float = 1.4) -> AbstractCommand:
return URRTDEMoveJCommand(self._logger, self._robot, q, speed, acceleration)
class URRTDEMoveLCompiler(AbstractCommandCompiler):
@ -136,8 +136,8 @@ class URRTDEMoveLCompiler(AbstractCommandCompiler):
self._logger = logger
self._robot = robot
def compile(self, q: List[float], speed: float = 0.25, acceleration: float = 1.2) -> AbstractCommand:
return URRTDEMoveLCommand(self._logger, self._robot, q, speed, acceleration)
def compile(self, pose: List[float], speed: float = 0.25, acceleration: float = 1.2) -> AbstractCommand:
return URRTDEMoveLCommand(self._logger, self._robot, pose, speed, acceleration)
class URRTDEPlugin(AbstractPlugin):
@ -147,7 +147,7 @@ class URRTDEPlugin(AbstractPlugin):
self._logger = logging.getLogger("plugin").getChild("ur_rtde")
self._robot = CombinedRobotInterface(Config.ROBOT_ADDRESS)
logging.info(f"Connected to robot at {Config.ROBOT_ADDRESS}")
self._logger.info(f"Connected to robot at {Config.ROBOT_ADDRESS}")
def load_compilers(self) -> Dict[str, AbstractCommandCompiler]:
return {