def set_tcp(self, tcp):
"""
set robot flange to tool tip transformation
"""
if isinstance(tcp, m3d.Transform):
tcp = tcp.pose_vector
URRobot.set_tcp(self, tcp)
def new_csys_from_xpy(self):
"""
Restores and returns new coordinate system calculated from three points: X, Origin, Y
based on math3d: Transform.new_from_xyp
"""
# Set coord. sys. to 0
self.csys = m3d.Transform()
print("A new coordinate system will be defined from the next three points")
print("Firs point is X, second Origin, third Y")
print("Set it as a new reference by calling myrobot.set_csys(new_csys)")
input("Move to first point and click Enter")
# we do not use get_pose so we avoid rounding values
pose = URRobot.getl(self)
print("Introduced point defining X: {}".format(pose[:3]))
px = m3d.Vector(pose[:3])
input("Move to second point and click Enter")
pose = URRobot.getl(self)
print("Introduced point defining Origo: {}".format(pose[:3]))
p0 = m3d.Vector(pose[:3])
input("Move to third point and click Enter")
pose = URRobot.getl(self)
print("Introduced point defining Y: {}".format(pose[:3]))
py = m3d.Vector(pose[:3])
new_csys = m3d.Transform.new_from_xyp(px - p0, py - p0, p0)
self.set_csys(new_csys)
return new_csys
def set_tcp(self, tcp):
"""
set robot flange to tool tip transformation
"""
if isinstance(tcp, m3d.Transform):
tcp = tcp.pose_vector
URRobot.set_tcp(self, tcp)
def new_csys_from_xpy(self):
"""
Restores and returns new coordinate system calculated from three points: X, Origin, Y
based on math3d: Transform.new_from_xyp
"""
# Set coord. sys. to 0
self.csys = m3d.Transform()
print(
"A new coordinate system will be defined from the next three points"
)
print("Firs point is X, second Origin, third Y")
print(
"Set it as a new reference by calling myrobot.set_csys(new_csys)")
input("Move to first point and click Enter")
# we do not use get_pose so we avoid rounding values
pose = URRobot.getl(self)
print("Introduced point defining X: {}".format(pose[:3]))
px = m3d.Vector(pose[:3])
input("Move to second point and click Enter")
pose = URRobot.getl(self)
print("Introduced point defining Origo: {}".format(pose[:3]))
p0 = m3d.Vector(pose[:3])
input("Move to third point and click Enter")
pose = URRobot.getl(self)
print("Introduced point defining Y: {}".format(pose[:3]))
py = m3d.Vector(pose[:3])
new_csys = m3d.Transform.new_from_xyp(px - p0, py - p0, p0)
self.set_csys(new_csys)
return new_csys
def speedl_tool(self, velocities, acc, min_time):
"""
move at given velocities in tool csys until minimum min_time seconds
"""
pose = self.get_pose()
v = pose.orient * m3d.Vector(velocities[:3])
w = pose.orient * m3d.Vector(velocities[3:])
URRobot.speedl(self, np.concatenate((v.array, w.array)), acc, min_time)
def speedl_tool(self, velocities, acc, min_time):
"""
move at given velocities in tool csys until minimum min_time seconds
"""
pose = self.get_pose()
v = pose.orient * m3d.Vector(velocities[:3])
w = pose.orient * m3d.Vector(velocities[3:])
URRobot.speedl(self, np.concatenate((v.array, w.array)), acc, min_time)
def speedx(self, command, velocities, acc, min_time):
"""
send command to robot formated like speedl or speedj
move at given velocities until minimum min_time seconds
"""
v = self.csys.orient * m3d.Vector(velocities[:3])
w = self.csys.orient * m3d.Vector(velocities[3:])
URRobot.speedx(self, command, np.concatenate((v.array, w.array)), acc, min_time)
def speedx(self, command, velocities, acc, min_time):
"""
send command to robot formated like speedl or speedj
move at given velocities until minimum min_time seconds
"""
v = self.csys.orient * m3d.Vector(velocities[:3])
w = self.csys.orient * m3d.Vector(velocities[3:])
URRobot.speedx(self, command, np.concatenate((v.array, w.array)), acc,
min_time)
def movexs(self,
command,
pose_list,
acc=0.01,
vel=0.01,
radius=0.01,
wait=True,
threshold=None):
"""
Concatenate several movex commands and applies a blending radius
pose_list is a list of pose.
This method is usefull since any new command from python
to robot make the robot stop
"""
new_poses = []
for pose in pose_list:
t = self.csys * m3d.Transform(pose)
pose = t.pose_vector
new_poses.append(pose)
return URRobot.movexs(self,
command,
new_poses,
acc,
vel,
radius,
wait=wait,
threshold=threshold)
def set_pose(self,
trans,
acc=0.01,
vel=0.01,
wait=True,
command="movel",
threshold=None,
radius=0):
"""
move tcp to point and orientation defined by a transformation
UR robots have several move commands, by default movel is used but it can be changed
using the command argument
"""
self.logger.debug("Setting pose to %s", trans.pose_vector)
t = self.csys * trans
pose = URRobot.movex(self,
command,
t.pose_vector,
acc=acc,
vel=vel,
wait=wait,
threshold=threshold,
radius=radius)
if pose is not None:
return self.csys.inverse * m3d.Transform(pose)
def get_pose(self, wait=False, _log=True):
"""
get current transform from base to to tcp
"""
pose = URRobot.getl(self, wait, _log)
trans = self.csys.inverse * m3d.Transform(pose)
if _log:
self.logger.debug("Returning pose to user: %s", trans.pose_vector)
return trans
def get_pose(self, wait=False, _log=True):
"""
get current transform from base to to tcp
"""
pose = URRobot.getl(self, wait, _log)
trans = self.csys.inverse * m3d.Transform(pose)
if _log:
self.logger.debug("Returning pose to user: %s", trans.pose_vector)
return trans
def movec(self, pose_via, pose_to, acc=0.01, vel=0.01, wait=True, threshold=None):
"""
Move Circular: Move to position (circular in tool-space)
see UR documentation
"""
pose_via = self.csys * m3d.Transform(pose_via)
pose_to = self.csys * m3d.Transform(pose_to)
pose = URRobot.movec(self, pose_via.pose_vector, pose_to.pose_vector, acc=acc, vel=vel, wait=wait, threshold=threshold)
if pose is not None:
return self.csys.inverse * m3d.Transform(pose)
def new_csys_from_xpy(self):
"""
Return new coordinate system from three points: X, Origin, Y
based on math3d: Transform.new_from_xyp
"""
print("A new coordinate system will be defined from the next three points")
print("Firs point is X, second Origin, third Y")
print("Set it as a new reference by calling myrobot.set_csys(new_csys)")
input("Move to first point and click Enter")
# we do not use get_pose so we avoid rounding values
pose = URRobot.getl(self)
p0 = m3d.Vector(pose[:3])
input("Move to second point and click Enter")
pose = URRobot.getl(self)
p1 = m3d.Vector(pose[:3])
input("Move to second point and click Enter")
pose = URRobot.getl(self)
p2 = m3d.Vector(pose[:3])
return m3d.Transform.new_from_xyp(p1 - p0, p2 - p0, p0)
def movec(self, pose_via, pose_to, acc=0.01, vel=0.01, wait=True, threshold=None):
"""
Move Circular: Move to position (circular in tool-space)
see UR documentation
"""
pose_via = self.csys * m3d.Transform(pose_via)
pose_to = self.csys * m3d.Transform(pose_to)
pose = URRobot.movec(self, pose_via.pose_vector, pose_to.pose_vector, acc=acc, vel=vel, wait=wait, threshold=threshold)
if pose is not None:
return self.csys.inverse * m3d.Transform(pose)
def set_pose(self, trans, acc=0.01, vel=0.01, wait=True, command="movel", threshold=None):
"""
move tcp to point and orientation defined by a transformation
UR robots have several move commands, by default movel is used but it can be changed
using the command argument
"""
self.logger.debug("Setting pose to %s", trans.pose_vector)
t = self.csys * trans
pose = URRobot.movex(self, command, t.pose_vector, acc=acc, vel=vel, wait=wait, threshold=threshold)
if pose is not None:
return self.csys.inverse * m3d.Transform(pose)
def movexs(self, command, pose_list, acc=0.01, vel=0.01, radius=0.01, wait=True, threshold=None):
"""
Concatenate several movex commands and applies a blending radius
pose_list is a list of pose.
This method is usefull since any new command from python
to robot make the robot stop
"""
new_poses = []
for pose in pose_list:
t = self.csys * m3d.Transform(pose)
pose = t.pose_vector
new_poses.append(pose)
return URRobot.movexs(self, command, new_poses, acc, vel, radius, wait=wait, threshold=threshold)
def new_csys_from_xpy(self):
"""
Return new coordinate system from three points: X, Origin, Y
based on math3d: Transform.new_from_xyp
"""
print(
"A new coordinate system will be defined from the next three points"
)
print("Firs point is X, second Origin, third Y")
print(
"Set it as a new reference by calling myrobot.set_csys(new_csys)")
input("Move to first point and click Enter")
# we do not use get_pose so we avoid rounding values
pose = URRobot.getl(self)
p0 = m3d.Vector(pose[:3])
input("Move to second point and click Enter")
pose = URRobot.getl(self)
p1 = m3d.Vector(pose[:3])
input("Move to second point and click Enter")
pose = URRobot.getl(self)
p2 = m3d.Vector(pose[:3])
return m3d.Transform.new_from_xyp(p1 - p0, p2 - p0, p0)
def __init__(self, host, use_rt=False):
URRobot.__init__(self, host, use_rt)
self.csys = m3d.Transform()
def set_gravity(self, vector):
if isinstance(vector, m3d.Vector):
vector = vector.list
return URRobot.set_gravity(self, vector)
def __init__(self, host, use_rt=False):
URRobot.__init__(self, host, use_rt)
self.csys = m3d.Transform()
def __init__(self, host, use_rt=False, use_simulation=False):
URRobot.__init__(self, host, use_rt, use_simulation)
self.csys = m3d.Transform()
def __init__(self, host, timeout=0.5):
URRobot.__init__(self, host, timeout)
self.csys = m3d.Transform()
def _get_lin_dist(self, target):
pose = URRobot.getl(self, wait=True)
target = m3d.Transform(target)
pose = m3d.Transform(pose)
return pose.dist(target)
def set_gravity(self, vector):
if isinstance(vector, m3d.Vector):
vector = vector.list
return URRobot.set_gravity(self, vector)
def __init__(self, host, use_rt=False, timeout=0.5):
URRobot.__init__(self, host, use_rt, timeout=timeout)
self.csys = m3d.Transform()
def __init__(self, host, use_rt=False, urFirm=None):
URRobot.__init__(self, host, use_rt, urFirm)
self.csys = m3d.Transform()
def _get_lin_dist(self, target):
pose = URRobot.getl(self, wait=True)
target = m3d.Transform(target)
pose = m3d.Transform(pose)
return pose.dist(target)