universalrobots/single_ursim_control
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Implemented basics of UR-RTDE plugin
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Pünkösd Marcell
2021-04-11 16:05:10 +02:00
parent ea5a2c9c5d
commit f8bd18c307
4 changed files with 171 additions and 2 deletions
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single_ursim_control/main.py
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@@ -2,7 +2,7 @@
import os
import sys
from config import Config
from plugins import SleepPlugin, SyncPlugin, WaitPlugin
from plugins import SleepPlugin, SyncPlugin, WaitPlugin, URRTDEPlugin
from plugin_repository import PluginRepository
from program_executor import ProgramExecutor
from http_server import ControllerHTTPServer
@@ -36,13 +36,20 @@ def main():
compiler_repo.register_plugin(SleepPlugin)
compiler_repo.register_plugin(SyncPlugin)
compiler_repo.register_plugin(WaitPlugin)
compiler_repo.register_plugin(URRTDEPlugin)
# Example code:
compiler_repo.load_plugin("sleep")
compiler_repo.load_plugin("sync")
compiler_repo.load_plugin("wait")
compiler_repo.load_plugin("ur_rtde")
program = []
program.append(compiler_repo.get_compiler("sleep").compile(secs=2))
program.append(compiler_repo.get_compiler("moveJ").compile([5.7386425805573555, -0.536165146212658, 1.6278685933351111, -2.661452576366153, -1.5683528658421044, 1.0096729722787197], 1.0, 4.0))
program.append(compiler_repo.get_compiler("moveL").compile([-0.4, 0.1, -0.31, 3.142, 0, 0], 0.05, 0.75))
program.append(compiler_repo.get_compiler("moveL").compile([-0.4, 0.1, -0.24, 3.142, 0, 0], 0.05, 0.75))
program.append(compiler_repo.get_compiler("moveJ").compile([5.923472948343555, 0.032637657012293965, 0.2590068609959585, -0.2935643801854462, -2.7157323161031766, 4.71238898038469], 1.0, 4.0))
program.append(compiler_repo.get_compiler("moveJ").compile([4.982042349817814, -0.5256931707006921, 1.620887276327134, -1.0993828958312282, -3.660653573132907, 5.271592472723674], 1.0, 4.0))
program.append(compiler_repo.get_compiler("wait").compile())
program.append(compiler_repo.get_compiler("sleep").compile(secs=3))
program.append(compiler_repo.get_compiler("sync").compile(nodes=2, name="test"))