def __init__(self):
# Define CameraTransormation Matrix
self.camera = RealCamera()
self.Rmain_camera = np.load('calib/CalibrationRotation.npy')
self.Tmain_camera = np.load('calib/CalibrationTranslation.npy')
# Connection to gripper
self.grip = RobotiqGripper("/dev/ttyUSB0")
self.grip.reset()
self.grip.activate()
self.grip.closeGripper()
# Connection to robot
ip = '172.31.1.148'
self.iiwa = sunrisePy(ip)
self.iiwa.setBlueOn()
time.sleep(2)
self.iiwa.setBlueOff()
self.relVel = 0.1
self.vel = 10
self.iiwa.attachToolToFlange([-1.5, 1.54, 252.8, 0, 0, 0])
self.z_min = 12.3 # Z mousse
self.z_min = -18 # Z table
def connectFun(self):
message = "Connecting to robot at ip: " + self.IP_of_robot.get()
self.printMessage(message)
self.iiwa = sunrisePy(self.IP_of_robot.get())
jpos = self.iiwa.getJointsPos()
for i in range(7):
self.jText[i].set(str(jpos[i]))
print("value of joint " + str(i))
print(self.jText[i].get())
def __init__(self):
ip = '172.31.1.148'
self.iiwa = sunrisePy(ip)
self.grip = RobotiqGripper("/dev/ttyUSB0")
self.iiwa.setBlueOn()
self.grip.reset()
self.grip.activate()
time.sleep(2)
self.iiwa.setBlueOff()
self.relVel = 0.1
self.vel = 10
# Define Flange
self.iiwa.attachToolToFlange([-1.5, 1.54, 152.8, 0, 0, 0])
# -*- coding: utf-8 -*-
"""
Created on Mon Mar 26 17:03:26 2018
@author: Mohammad SAFEEA
Test script of iiwaPy class.
"""
from iiwaPy.sunrisePy import sunrisePy
import time
ip = '172.31.1.148'
#ip='localhost'
iiwa = sunrisePy(ip)
iiwa.setBlueOff()
time.sleep(2)
iiwa.setBlueOn()
# read some data from the robot
try:
print('End effector position and orientation is:')
print(iiwa.getEEFPos())
time.sleep(0.1)
print('Forces acting at end effector are')
print(iiwa.getEEF_Force())
time.sleep(0.1)
print('Cartesian position (X,Y,Z) of end effector')
print(iiwa.getEEFCartesianPosition())
time.sleep(0.1)
print('Moment at end effector')
print(iiwa.getEEF_Moment())
time.sleep(0.1)
