def __init__(self, host, useForce=False, use_rt=False):
self.logger = logging.getLogger("urx")
self.host = host
self.csys = None
self.logger.debug("Opening secondary monitor socket")
self.secmon = ursecmon.SecondaryMonitor(self.host) # data from robot at 10Hz
self.rtmon = None
if use_rt:
self.rtmon = self.get_realtime_monitor()
# precision of joint movem used to wait for move completion
# the value must be conservative! otherwise we may wait forever
self.joinEpsilon = 0.01
# It seems URScript is limited in the character length of floats it accepts
self.max_float_length = 6 # FIXME: check max length!!!
print('check')
print("use force :{}".format(useForce))
if useForce:
print('use force sensor')
try:
import NetFT
self.force_sensor = NetFT.Sensor('192.168.1.1')
self.force_sensor.startStreaming()
self.force_sensor.receive()
self.force_sensor.data
self.force_sensor.tare()
print('Force sensor Connected and taré')
self.isForceSensor = True
except:
print('Force Sensor not Connected')
self.isForceSensor = False
pass
self.secmon.wait() # make sure we get data from robot before letting clients access our methods
def InitBaseVariables(self):
self.pub = rospy.Publisher('SocialReturnValues', String, queue_size=10)
self.ImageIndex = 0
self.ExtraContours = []
self.StateOfWait = False
self.StepsTaken = [
'Idle', 'Greeting', 'ExecuteDrawing', 'ContemplateAnimation',
'ExecuteDrawing', 'EncourageDrawing', 'ObserveUserDrawing',
'SignDrawing', 'EncourageSigining', 'ObserveUserSigning', 'GoodBye'
]
self.RunningSocialAction = False
self.IdleCon = False
self.withdrawPose = rospy.get_param('WithdrawPose')
self.NodPose = rospy.get_param('NodDifferentials')
self.initHoverPos = [0, 0, 0, 0, 0, 0]
self.md = [0, 0]
self.zDraw = 0
self.zHover = 0
self.xZero = 0
self.yZero = 0
self.xMax = 0
self.yMax = 0
self.a = rospy.get_param('speedParameters')
self.v = rospy.get_param('speedParameters')
self.rob = urx.Robot(rospy.get_param('roboIP'))
self.leftwithDraw = rospy.get_param('leftRetreat')
self.rightwithDraw = rospy.get_param('RightRetreat')
self.Interruption = False
self.StopCommand = False
self.InteruptedPosition = self.rob.getl()
self.secmon = ursecmon.SecondaryMonitor(self.rob.host)
return
def __init__(self, host, use_rt=False):
self.logger = logging.getLogger("urx")
self.host = host
self.csys = None
self.logger.debug("Opening secondary monitor socket")
self.secmon = ursecmon.SecondaryMonitor(
self.host) # data from robot at 10Hz
self.rtmon = None
if use_rt:
self.rtmon = self.get_realtime_monitor()
# precision of joint movem used to wait for move completion
# the value must be conservative! otherwise we may wait forever
self.joinEpsilon = 0.01
# It seems URScript is limited in the character length of floats it accepts
self.max_float_length = 6 # FIXME: check max length!!!
def __init__(self, host, timeout=0.5):
self.logger = logging.getLogger("urx")
self.host = host
self.csys = None
self.logger.debug("Opening secondary monitor socket")
self.secmon = ursecmon.SecondaryMonitor(
self.host, timeout=timeout) # data from robot at 10Hz
self.rtmon = None
# precision of joint movem used to wait for move completion
# the value must be conservative! otherwise we may wait forever
self.joinEpsilon = 0.01
# It seems URScript is limited in the character length of floats it accepts
self.max_float_length = 6 # FIXME: check max length!!!
self.secmon.wait(
) # make sure we get data from robot before letting clients access our methods
def __init__(self, host, useRTInterface=False, logLevel=logging.WARN, parserLogLevel=logging.WARN):
self.logger = logging.getLogger(self.__class__.__name__)
if len(logging.root.handlers) == 0: #dirty hack
logging.basicConfig()
self.logger.setLevel(logLevel)
self.host = host
self.csys = None
self.logger.info("Opening secondary monitor socket")
self.secmon = ursecmon.SecondaryMonitor(self.host, logLevel=logLevel, parserLogLevel=parserLogLevel) #data from robot at 10Hz
self.rtmon = None
if useRTInterface:
self.rtmon = self.get_realtime_monitor()
#the next 3 values must be conservative! otherwise we may wait forever
self.joinEpsilon = 0.01 # precision of joint movem used to wait for move completion
# It seems URScript is limited in the character length of floats it accepts
self.max_float_length = 6 # FIXME: check max length!!!
self.secmon.wait() # make sure we get data from robot before letting clients access our methods
prog += (" if get_analog_in(3) < 2:\n")
prog += (" zslam=0\n")
prog += (" else:\n")
prog += (" zslam=payload\n")
prog += (" end\n")
prog += (" else:\n")
prog += (" if get_digital_in(8) == False:\n")
prog += (" zmasm=0\n")
prog += (" else:\n")
prog += (" zmasm=payload\n")
prog += (" end\n")
prog += (" end\n")
prog += (" zsysm=0.0\n")
prog += (" zload=zmasm+zslam+zsysm\n")
prog += (" set_payload(zload)\n")
prog += (" end\n")
prog += ("end\n")
return prog
else:
return "Please ensure the gripper width is between 0 and 110"
except:
return "An Error Occured"
rob = urx.Robot('10.0.0.157')
secmon = ursecmon.SecondaryMonitor(rob.host)
print MoveRG2(1000)
rob.send_program(MoveRG2(110))
rob.close()
secmon.close()
