# get controller version
con.get_controller_version()
# setup recipes
if not con.send_output_setup(
output_names, output_types, frequency=args.frequency):
logging.error('Unable to configure output')
sys.exit()
#start data synchronization
if not con.send_start():
logging.error('Unable to start synchronization')
sys.exit()
with open(args.output, 'w') as csvfile:
writer = csv_writer.CSVWriter(csvfile, output_names, output_types)
writer.writeheader()
i = 1
keep_running = True
while keep_running:
if i % args.frequency == 0:
if args.samples > 0:
sys.stdout.write("\r")
sys.stdout.write("{:.2%} done.".format(
float(i) / float(args.samples)))
sys.stdout.flush()
else:
sys.stdout.write("\r")
sys.stdout.write("{:3d} samples.".format(i))
def record_ur_data(host, port, csvfilename):
#parameters
parser = argparse.ArgumentParser()
parser.add_argument('--host', default=host, help='name of host to connect to (localhost)')
parser.add_argument('--port', type=int, default=30004, help='port number (30004)')
parser.add_argument('--samples', type=int, default=0, help='number of samples to record')
parser.add_argument('--frequency', type=int, default=125, help='the sampling frequency in Herz')
parser.add_argument('--config', default='record_configuration.xml', help='data configuration file to use (record_configuration.xml)')
parser.add_argument('--output', default='robot_data.csv', help='data output file to write to (robot_data.csv)')
parser.add_argument("--verbose", help="increase output verbosity", action="store_true")
parser.add_argument("--binary", help="save the data in binary format", action="store_true")
args = parser.parse_args()
args.output = csvfilename
args.host = host
args.port = port
if args.verbose:
logging.basicConfig(level=logging.INFO)
conf = rtde_config.ConfigFile(args.config)
output_names, output_types = conf.get_recipe('out')
con = rtde.RTDE(args.host, args.port)
con.connect()
# get controller version
con.get_controller_version()
# setup recipes
if not con.send_output_setup(output_names, output_types, frequency = args.frequency):
logging.error('Unable to configure output')
sys.exit()
#start data synchronization
if not con.send_start():
logging.error('Unable to start synchronization')
sys.exit()
writeModes = 'wb' if args.binary else 'w'
with open(args.output, writeModes) as csvfile:
writer = None
if args.binary:
writer = csv_binary_writer.CSVBinaryWriter(csvfile, output_names, output_types)
else:
writer = csv_writer.CSVWriter(csvfile, output_names, output_types)
writer.writeheader()
i = 1
global keep_running
while keep_running:
timestamp = (time.time() - timestart)*1000
if i%args.frequency == 0:
if args.samples > 0:
sys.stdout.write("\r")
sys.stdout.write("{:.2%} done.".format(float(i)/float(args.samples)))
sys.stdout.flush()
else:
sys.stdout.write("\r")
sys.stdout.write("{:3d} samples.".format(i))
sys.stdout.flush()
if args.samples > 0 and i >= args.samples:
keep_running = False
try:
state = con.receive(args.binary)
if state is not None:
writer.writerow(state, timestamp)
else:
sys.exit()
except KeyboardInterrupt:
keep_running = False
i += 1
sys.stdout.write("\rComplete! \n")
con.send_pause()
con.disconnect()