dsr_service_motion_basic.py
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1 #!/usr/bin/env python
2 # -*- coding: utf-8 -*-
3 # ##
4 # @brief [py example basic] motion basic test for doosan robot
5 # @author Kab Kyoum Kim (kabkyoum.kim@doosan.com)
6 
7 import rospy
8 import os
9 import threading, time
10 from std_msgs.msg import String,Int32,Int32MultiArray,Float64,Float64MultiArray,MultiArrayLayout,MultiArrayDimension
11 import sys
12 sys.dont_write_bytecode = True
13 #sys.path.append( os.path.abspath(os.path.join(os.path.dirname(__file__),"../../../../common/imp")) ) # get import pass : DSR_ROBOT.py
14 #from DSR_ROBOT import *
15 
16 sys.path.append( os.path.abspath(os.path.join(os.path.dirname(__file__),"../../../../common/imp")) ) # get import pass : DRFC.py
17 from DRFC import *
18 
19 from dsr_msgs.msg import *
20 from dsr_msgs.srv import *
21 
22 
23 #--------------------------
24 
25 
26 #--------------------------
27 
28 ROBOT_ID = "dsr01"
29 ROBOT_MODEL = "m1013"
30 def SET_ROBOT(id, model):
31  ROBOT_ID = id; ROBOT_MODEL= model
32 
33 
34 
35 # convert list to Float64MultiArray
36 def _ros_listToFloat64MultiArray(list_src):
37  _res = []
38  for i in list_src:
39  item = Float64MultiArray()
40  item.data = i
41  _res.append(item)
42  #print(_res)
43  #print(len(_res))
44  return _res
45 
46 def movej(fTargetPos, fTargetVel, fTargetAcc, fTargetTime = 0.0, fBlendingRadius = 0.0,
47  nMoveMode = MOVE_MODE_ABSOLUTE, nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE, nSyncType = 0):
48  return srv_move_joint(fTargetPos, fTargetVel, fTargetAcc, fTargetTime, fBlendingRadius, nMoveMode, nBlendingType, 0)
49 def amovej(fTargetPos, fTargetVel, fTargetAcc, fTargetTime = 0.0, fBlendingRadius = 0.0,
50  nMoveMode = MOVE_MODE_ABSOLUTE, nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE, nSyncType = 1):
51  return srv_move_joint(fTargetPos, fTargetVel, fTargetAcc, fTargetTime, fBlendingRadius, nMoveMode, nBlendingType, 1)
52 
53 
54 def movel(fTargetPos, fTargetVel, fTargetAcc, fTargetTime = 0.0, fBlendingRadius = 0.0,
55  nMoveReference = MOVE_REFERENCE_BASE, nMoveMode = MOVE_MODE_ABSOLUTE, nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE, nSyncType = 0):
56  return srv_move_line(fTargetPos, fTargetVel, fTargetAcc, fTargetTime, fBlendingRadius, nMoveReference, nMoveMode, nBlendingType, 0)
57 def amovel(fTargetPos, fTargetVel, fTargetAcc, fTargetTime = 0.0, fBlendingRadius = 0.0,
58  nMoveReference = MOVE_REFERENCE_BASE, nMoveMode = MOVE_MODE_ABSOLUTE, nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE, nSyncType = 1):
59  return srv_move_line(fTargetPos, fTargetVel, fTargetAcc, fTargetTime, fBlendingRadius, nMoveReference, nMoveMode, nBlendingType, 1)
60 
61 
62 def movejx(fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0,
63  fBlendingRadius = 0.0, nMoveReference = MOVE_REFERENCE_BASE, nMoveMode = MOVE_MODE_ABSOLUTE, nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE, nSolSpace = 0, nSyncType = 0):
64  return srv_move_jointx(fTargetPos, fTargetVel, fTargetAcc, fTargetTime, fBlendingRadius, nMoveReference, nMoveMode, nBlendingType, nSolSpace, 0)
65 def amovejx(fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0,
66  fBlendingRadius = 0.0, nMoveReference = MOVE_REFERENCE_BASE, nMoveMode = MOVE_MODE_ABSOLUTE, nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE, nSolSpace = 0, nSyncType = 0):
67  return srv_move_jointx(fTargetPos, fTargetVel, fTargetAcc, fTargetTime, fBlendingRadius, nMoveReference, nMoveMode, nBlendingType, nSolSpace, 1)
68 
69 
70 def movec(fTargetPos, fTargetVel, fTargetAcc, fTargetTime = 0.0, fBlendingRadius = 0.0,
71  nMoveReference = MOVE_REFERENCE_BASE, nMoveMode = MOVE_MODE_ABSOLUTE, fAngle1 = 0.0, fAngle2 = 0.0, nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE, nSyncType = 0):
72  #_circle_pos = _ros_listToFloat64MultiArray([fTargetPos[0], fTargetPos[1]])
73  _circle_pos = _ros_listToFloat64MultiArray(fTargetPos)
74  return srv_move_circle(_circle_pos, fTargetVel, fTargetAcc, fTargetTime, fBlendingRadius, nMoveReference, nMoveMode, fAngle1, fAngle2, nBlendingType, 0)
75 def amovec(fTargetPos, fTargetVel, fTargetAcc, fTargetTime = 0.0, fBlendingRadius = 0.0,
76  nMoveReference = MOVE_REFERENCE_BASE, nMoveMode = MOVE_MODE_ABSOLUTE, fAngle1 = 0.0, fAngle2 = 0.0, nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE, nSyncType = 0):
77  #_circle_pos = _ros_listToFloat64MultiArray([fTargetPos[0], fTargetPos[1]])
78  _circle_pos = _ros_listToFloat64MultiArray(fTargetPos)
79  return srv_move_circle(_circle_pos, fTargetVel, fTargetAcc, fTargetTime, fBlendingRadius, nMoveReference, nMoveMode, fAngle1, fAngle2, nBlendingType, 1)
80 
81 
82 def movesj(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime = 0.0,
83  nMoveMode = MOVE_MODE_ABSOLUTE, nSyncType = 0):
84 
85  _spline_joint_pos = _ros_listToFloat64MultiArray(fTargetPos)
86  return srv_move_spline_joint(_spline_joint_pos, len(_spline_joint_pos), fTargetVel, fTargetAcc, fTargetTime, nMoveMode, 0)
87 def amovesj(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime = 0.0,
88  nMoveMode = MOVE_MODE_ABSOLUTE, nSyncType = 0):
89  _spline_joint_pos = _ros_listToFloat64MultiArray(fTargetPos)
90  return srv_move_spline_joint(_spline_joint_pos, len(_spline_joint_pos), fTargetVel, fTargetAcc, fTargetTime, nMoveMode, 1)
91 
92 
93 def movesx(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime = 0.0,
94  nMoveMode = MOVE_MODE_ABSOLUTE, nMoveReference = MOVE_REFERENCE_BASE, nVelOpt = SPLINE_VELOCITY_OPTION_DEFAULT, nSyncType = 0):
95  _spline_task_pos = _ros_listToFloat64MultiArray(fTargetPos)
96  return srv_move_spline_task(_spline_task_pos, len(_spline_task_pos), fTargetVel, fTargetAcc, fTargetTime, nMoveMode, nMoveReference, nVelOpt, 0)
97 def amovesx(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime = 0.0,
98  nMoveMode = MOVE_MODE_ABSOLUTE, nMoveReference = MOVE_REFERENCE_BASE, nVelOpt = SPLINE_VELOCITY_OPTION_DEFAULT, nSyncType = 0):
99  _spline_task_pos = _ros_listToFloat64MultiArray(fTargetPos)
100  return srv_move_spline_task(_spline_task_pos, len(_spline_task_pos), fTargetVel, fTargetAcc, fTargetTime, nMoveMode, nMoveReference, nVelOpt, 1)
101 
102 
103 def moveb(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime = 0.0,
104  nMoveMode = MOVE_MODE_ABSOLUTE, nMoveReference = MOVE_REFERENCE_BASE, nSyncType = 0):
105  _moveb_pos = _ros_listToFloat64MultiArray(fTargetPos)
106  return srv_move_blending(_moveb_pos, len(_moveb_pos), fTargetVel, fTargetAcc, fTargetTime, nMoveMode, nMoveReference, 0)
107 def amoveb(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime = 0.0,
108  nMoveMode = MOVE_MODE_ABSOLUTE, nMoveReference = MOVE_REFERENCE_BASE, nSyncType = 0):
109  _moveb_pos = _ros_listToFloat64MultiArray(fTargetPos)
110  return srv_move_blending(_moveb_pos, len(_moveb_pos), fTargetVel, fTargetAcc, fTargetTime, nMoveMode, nMoveReference, 1)
111 
112 
113 def move_spiral(nTaskAxis, fRevolution, fMaxRadius, fMaxLength, fTargetVel, fTargetAcc, fTargetTime = 0.0,
114  nMoveReference = MOVE_REFERENCE_TOOL, nSyncType = 0):
115  return srv_move_spiral(nTaskAxis, fRevolution, fMaxRadius, fMaxLength, fTargetVel, fTargetAcc, fTargetTime, nMoveReference, 0)
116 def amove_spiral(nTaskAxis, fRevolution, fMaxRadius, fMaxLength, fTargetVel, fTargetAcc, fTargetTime = 0.0,
117  nMoveReference = MOVE_REFERENCE_TOOL, nSyncType = 0):
118  return srv_move_spiral(nTaskAxis, fRevolution, fMaxRadius, fMaxLength, fTargetVel, fTargetAcc, fTargetTime, nMoveReference, 1)
119 
120 
121 def move_periodic(fAmplitude, fPeriodic, fAccelTime = 0.0,
122  nRepeat = 1, nMoveReference = MOVE_REFERENCE_TOOL, nSyncType = 0):
123  return srv_move_periodic(fAmplitude, fPeriodic, fAccelTime, nRepeat, nMoveReference, 0)
124 def amove_periodic(fAmplitude, fPeriodic, fAccelTime = 0.0,
125  nRepeat = 1, nMoveReference = MOVE_REFERENCE_TOOL, nSyncType = 0):
126  return srv_move_periodic(fAmplitude, fPeriodic, fAccelTime, nRepeat, nMoveReference, 1)
127 
128 
129 def move_wait():
130  return srv_move_wait()
131 ####################################################################################################################################################
132 
133 def shutdown():
134  print "shutdown time!"
135  print "shutdown time!"
136  print "shutdown time!"
137 
138  pub_stop.publish(stop_mode=1) #STOP_TYPE_QUICK)
139  return 0
140 ##################################################################################################
141 if __name__ == "__main__":
142  #----- set target robot ---------------
143  my_robot_id = "dsr01"
144  my_robot_model = "m1013"
145  SET_ROBOT(my_robot_id, my_robot_model)
146 
147  rospy.init_node('dsr_service_motion_basic_py')
148  rospy.on_shutdown(shutdown)
149 
150 
151  pub_stop = rospy.Publisher('/'+ROBOT_ID +ROBOT_MODEL+'/stop', RobotStop, queue_size=10)
152 
153  #print 'wait services'
154  rospy.wait_for_service('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_joint')
155 
156  srv_move_joint = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_joint', MoveJoint)
157  srv_move_jointx = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_jointx', MoveJointx)
158 
159  srv_move_line = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_line', MoveLine)
160  srv_move_circle = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_circle', MoveCircle)
161  srv_move_spline_joint = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spline_joint', MoveSplineJoint)
162  srv_move_spline_task = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spline_task', MoveSplineTask)
163 
164  srv_move_blending = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_blending', MoveBlending)
165  srv_move_spiral = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spiral', MoveSpiral)
166  srv_move_periodic = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_periodic', MovePeriodic)
167  srv_move_wait = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_wait', MoveWait)
168 
169 
170  velx =[250.0, 80.625] # 태스크 속도를 250(mm/sec), 80.625(deg/sec)로 설정
171  accx =[1000.0, 322.5] # 태스크 가속도를 1000(mm/sec2), 322.5(deg/sec2)로 설정
172 
173  j1 = [0.0, 0.0, 90.0, 0.0, 90.0, 0.0] #joint
174 
175  sj1 =[[10.00, 0.00, 0.00, 0.00, 10.00, 20.00], [15.00, 0.00, -10.00, 0.00, 10.00, 20.00]]
176 
177  x1 = [0.0, 0.0, -100.0, 0.0, 0.0, 0.0] #task
178  x2 = [545,100,514,0,-180,0] #jx task
179  cx1 = [[544.00, 100.00, 500.00, 0.00, -180.00, 0.00], [543.00, 106.00, 479.00, 7.00, -180.00, 7.00]]
180  sx1 = [[10.00, -10.00, 20.00, 0.00, 10.00, 0.00], [15.00, 10.00, -10.00, 0.00, 10.00, 0.00]]
181 
182  bx1 = [564.00, 200.00, 690.00, 0.00, 180.00, 0.00] + [0, 0, 0, 0, 0, 0]
183  bx_type1= [0]; bx_radius1=[40.0]
184 
185  bx2 = [564.00, 100.00, 590.00, 0.00, 180.00, 0.00] + [564.00, 150.00, 590.00, 0.00, 180.00, 0.00]
186  bx_type2= [1]; bx_radius2=[20.0]
187 
188  amp = [10.00, 0.00, 20.00, 0.00, 0.50, 0.00]
189  period = [1.00, 0.00, 1.50, 0.00, 0.00, 0.00]
190  # ??? MOVE_POSB posb[2];
191 
192  while not rospy.is_shutdown():
193 
194  movej(j1, 60, 30)
195 
196  movel(x1, velx, accx, 0, 0, MOVE_REFERENCE_BASE, MOVE_MODE_RELATIVE)
197 
198  movejx(x2, 60, 30, 2, 0, MOVE_REFERENCE_BASE, MOVE_MODE_ABSOLUTE, BLENDING_SPEED_TYPE_DUPLICATE, 2)
199 
200  movec(cx1, velx, accx)
201 
202  movesj(sj1, 2, 60, 30, 0, MOVE_MODE_RELATIVE)
203 
204  movesx(sx1, 2, velx, accx, 0, MOVE_MODE_RELATIVE)
205 
206 
207  bx_type1= [0]; bx_radius1=[40.0]
208  bx_type2= [1]; bx_radius2=[20.0]
209 
210  seg1 = bx1 + bx_type1 + bx_radius1
211  seg2 = bx2 + bx_type2 + bx_radius2
212 
213  posb = [seg1, seg2]
214  posCnt = len(posb)
215 
216  moveb(posb, posCnt, velx, accx)
217 
218  move_spiral(1.00, 20.00, 20.00, velx, accx, 5, TASK_AXIS_Z, MOVE_REFERENCE_TOOL)
219 
220  move_periodic(amp, period, 0.5, 3, MOVE_REFERENCE_BASE)
221 
222  #---- async motions ---------------------------------------------------------------------------------
223  amovej(j1, 60, 30, 0, 0, MOVE_MODE_ABSOLUTE, BLENDING_SPEED_TYPE_DUPLICATE, 1)
224  move_wait()
225 
226  amovel(x1, velx, accx, 0, 0, MOVE_REFERENCE_BASE, MOVE_MODE_RELATIVE, BLENDING_SPEED_TYPE_DUPLICATE, 1)
227  move_wait()
228 
229  amovejx(x2, 60, 30, 2, MOVE_MODE_ABSOLUTE,MOVE_REFERENCE_BASE, 0, BLENDING_SPEED_TYPE_DUPLICATE, 2, 1)
230  move_wait()
231 
232  amovec(cx1, velx, accx, 0, 0, MOVE_REFERENCE_BASE, MOVE_MODE_ABSOLUTE, BLENDING_SPEED_TYPE_DUPLICATE, 1)
233  move_wait()
234 
235  amovesj(sj1, 2, 60, 30, 0, MOVE_MODE_RELATIVE, 1)
236  move_wait()
237 
238  amovesx(sx1, 2, velx, accx, 0, MOVE_MODE_RELATIVE, MOVE_REFERENCE_BASE, SPLINE_VELOCITY_OPTION_DEFAULT, 1)
239  move_wait()
240 
241  amoveb(posb, 2, velx, accx, 0, MOVE_MODE_ABSOLUTE, MOVE_REFERENCE_BASE, 1)
242  move_wait()
243 
244  amove_spiral(1.00, 20.00, 20.00, velx, accx, 5, TASK_AXIS_Z, MOVE_REFERENCE_TOOL, 1)
245  move_wait()
246 
247  amove_periodic(amp, period, 0.5, 3, MOVE_REFERENCE_BASE, 1)
248  move_wait()
249 
250 
251  '''
252  time= 0.0; mode=0; ref=0; radius=0.0; blendType=0; syncType=0
253  vel=30; acc=30; sol=0
254  angle1=0.0; angle2=0.0
255  opt = 0
256 
257  p1=[0,0,0,0,0,0] #joint
258  p2=[0.0, 0.0, 90.0, 0.0, 90.0, 0.0] #joint
259  x1=[400, 500, 800.0, 0.0, 180.0, 0.0] #task
260  x2=[400, 500, 500.0, 0.0, 180.0, 0.0] #task
261  velx=[50, 50]
262  accx=[100, 100]
263 
264  c1 = [559,434.5,651.5,0,180,0]
265  c2 = [559,434.5,251.5,0,180,0]
266  CirclePos = _ros_listToFloat64MultiArray([c1, c2])
267 
268  q0 =[0,0,0,0,0,0]
269  q1 =[10, -10, 20, -30, 10, 20]
270  q2 =[25, 0, 10, -50, 20, 40]
271  q3 =[50, 50, 50, 50, 50, 50]
272  q4 =[30, 10, 30, -20, 10, 60]
273  q5 =[20, 20, 40, 20, 0, 90]
274  SplinePosj = _ros_listToFloat64MultiArray([q0,q1,q2,q3,q4,q5])
275 
276  x1 = [600, 600, 600, 0, 175, 0]
277  x2 = [600, 750, 600, 0, 175, 0]
278  x3 = [150, 600, 450, 0, 175, 0]
279  x4 = [-300, 300, 300, 0, 175, 0]
280  x5 = [-200, 700, 500, 0, 175, 0]
281  x6 = [600, 600, 400, 0, 175, 0]
282  SplinePosx = _ros_listToFloat64MultiArray([x1, x2, x3, x4, x5, x6])
283 
284 
285  taskAxis = 0
286  revolution = 9
287  maxRadius = 20.0
288  maxLength =50.0
289 
290  amp =[10,0,0,0,30,0]
291  period=[1.0, 1.0, 1.0, 1.0, 1.0, 1.0]
292  atime=0.2
293  repeat=5
294 
295 
296  bx11 = [370.1, 670.1, 650.1, 0.1, 180.1, 0.1]; bx12 = [370.1, 670.1, 650.1, 0.1, 180.1, 0.1]; bx_type1= [0]; bx_radius1=[21.0]
297  bx21 = [370.2, 670.2, 400.2, 0.2, 180.2, 0.2]; bx22 = [370.2, 545.2, 400.2, 0.2, 180.2, 0.2]; bx_type2= [1]; bx_radius2=[22.0]
298  bx31 = [370.3, 595.3, 400.3, 0.3, 180.3, 0.3]; bx32 = [370.3, 595.3, 400.3, 0.3, 180.3, 0.3]; bx_type3= [0]; bx_radius3=[23.0]
299 
300  seg1 = bx11 + bx12 + bx_type1 + bx_radius1
301  seg2 = bx21 + bx22 + bx_type2 + bx_radius2
302  seg3 = bx31 + bx32 + bx_type3 + bx_radius3
303 
304  mb_seg = _ros_listToFloat64MultiArray([seg1, seg2, seg3])
305  posCnt = len(mb_seg)
306 
307  while not rospy.is_shutdown():
308  move_joint(p2, vel, acc, time, mode, radius, blendType, syncType)
309  move_jointx(x1, sol, vel, acc, time, mode, ref, radius, blendType, syncType)
310  move_line(x2, velx, accx, time, mode, ref, radius, blendType, syncType)
311  move_circle(CirclePos, velx, accx, time, mode, ref, angle1, angle2, radius, blendType, syncType)
312  move_spline_joint(SplinePosj, len(SplinePosj), vel, acc, time, mode, syncType)
313  move_spline_task(SplinePosx, len(SplinePosx), velx, accx, time, mode, ref, opt, syncType)
314  move_spiral(revolution, maxRadius, maxLength, velx, accx, time, taskAxis, ref, syncType)
315  move_periodic(amp, period, atime, repeat, ref, syncType)
316  move_blending(mb_seg, posCnt, velx, accx, time, mode, ref, syncType)
317  '''
318 
319  print 'good bye!'
dsr_service_motion_basic.SET_ROBOT
def SET_ROBOT(id, model)
Definition: dsr_service_motion_basic.py:30
dsr_service_motion_basic.srv_move_spiral
srv_move_spiral
Definition: dsr_service_motion_basic.py:165
dsr_service_motion_basic.srv_move_wait
srv_move_wait
Definition: dsr_service_motion_basic.py:167
dsr_service_motion_basic.movej
def movej(fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0, fBlendingRadius=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, nSyncType=0)
Definition: dsr_service_motion_basic.py:47
dsr_service_motion_basic.amovel
def amovel(fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0, fBlendingRadius=0.0, nMoveReference=MOVE_REFERENCE_BASE, nMoveMode=MOVE_MODE_ABSOLUTE, nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, nSyncType=1)
Definition: dsr_service_motion_basic.py:58
dsr_service_motion_basic.srv_move_spline_task
srv_move_spline_task
Definition: dsr_service_motion_basic.py:162
dsr_service_motion_basic.srv_move_jointx
srv_move_jointx
Definition: dsr_service_motion_basic.py:157
dsr_service_motion_basic._ros_listToFloat64MultiArray
def _ros_listToFloat64MultiArray(list_src)
Definition: dsr_service_motion_basic.py:36
dsr_service_motion_basic.amove_spiral
def amove_spiral(nTaskAxis, fRevolution, fMaxRadius, fMaxLength, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveReference=MOVE_REFERENCE_TOOL, nSyncType=0)
Definition: dsr_service_motion_basic.py:117
dsr_service_motion_basic.move_wait
def move_wait()
Definition: dsr_service_motion_basic.py:129
dsr_service_motion_basic.movesj
def movesj(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nSyncType=0)
Definition: dsr_service_motion_basic.py:83
msg
dsr_service_motion_basic.movejx
def movejx(fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0, fBlendingRadius=0.0, nMoveReference=MOVE_REFERENCE_BASE, nMoveMode=MOVE_MODE_ABSOLUTE, nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, nSolSpace=0, nSyncType=0)
Definition: dsr_service_motion_basic.py:63
dsr_service_motion_basic.amovec
def amovec(fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0, fBlendingRadius=0.0, nMoveReference=MOVE_REFERENCE_BASE, nMoveMode=MOVE_MODE_ABSOLUTE, fAngle1=0.0, fAngle2=0.0, nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, nSyncType=0)
Definition: dsr_service_motion_basic.py:76
dsr_service_motion_basic.move_spiral
def move_spiral(nTaskAxis, fRevolution, fMaxRadius, fMaxLength, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveReference=MOVE_REFERENCE_TOOL, nSyncType=0)
Definition: dsr_service_motion_basic.py:114
dsr_service_motion_basic.srv_move_circle
srv_move_circle
Definition: dsr_service_motion_basic.py:160
dsr_service_motion_basic.amovej
def amovej(fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0, fBlendingRadius=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, nSyncType=1)
Definition: dsr_service_motion_basic.py:50
dsr_service_motion_basic.amovesj
def amovesj(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nSyncType=0)
Definition: dsr_service_motion_basic.py:88
dsr_service_motion_basic.amove_periodic
def amove_periodic(fAmplitude, fPeriodic, fAccelTime=0.0, nRepeat=1, nMoveReference=MOVE_REFERENCE_TOOL, nSyncType=0)
Definition: dsr_service_motion_basic.py:125
dsr_service_motion_basic.movel
def movel(fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0, fBlendingRadius=0.0, nMoveReference=MOVE_REFERENCE_BASE, nMoveMode=MOVE_MODE_ABSOLUTE, nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, nSyncType=0)
Definition: dsr_service_motion_basic.py:55
dsr_service_motion_basic.movesx
def movesx(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nMoveReference=MOVE_REFERENCE_BASE, nVelOpt=SPLINE_VELOCITY_OPTION_DEFAULT, nSyncType=0)
Definition: dsr_service_motion_basic.py:94
dsr_service_motion_basic.move_periodic
def move_periodic(fAmplitude, fPeriodic, fAccelTime=0.0, nRepeat=1, nMoveReference=MOVE_REFERENCE_TOOL, nSyncType=0)
Definition: dsr_service_motion_basic.py:122
dsr_service_motion_basic.srv_move_spline_joint
srv_move_spline_joint
Definition: dsr_service_motion_basic.py:161
dsr_service_motion_basic.srv_move_periodic
srv_move_periodic
Definition: dsr_service_motion_basic.py:166
dsr_service_motion_basic.srv_move_joint
srv_move_joint
Definition: dsr_service_motion_basic.py:156
srv
dsr_service_motion_basic.shutdown
def shutdown()
Definition: dsr_service_motion_basic.py:133
dsr_service_motion_basic.amoveb
def amoveb(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nMoveReference=MOVE_REFERENCE_BASE, nSyncType=0)
Definition: dsr_service_motion_basic.py:108
dsr_service_motion_basic.srv_move_line
srv_move_line
Definition: dsr_service_motion_basic.py:159
dsr_service_motion_basic.moveb
def moveb(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nMoveReference=MOVE_REFERENCE_BASE, nSyncType=0)
Definition: dsr_service_motion_basic.py:104
dsr_service_motion_basic.amovesx
def amovesx(fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nMoveReference=MOVE_REFERENCE_BASE, nVelOpt=SPLINE_VELOCITY_OPTION_DEFAULT, nSyncType=0)
Definition: dsr_service_motion_basic.py:98
dsr_service_motion_basic.srv_move_blending
srv_move_blending
Definition: dsr_service_motion_basic.py:164
dsr_service_motion_basic.amovejx
def amovejx(fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0, fBlendingRadius=0.0, nMoveReference=MOVE_REFERENCE_BASE, nMoveMode=MOVE_MODE_ABSOLUTE, nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, nSolSpace=0, nSyncType=0)
Definition: dsr_service_motion_basic.py:66
dsr_service_motion_basic.movec
def movec(fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0, fBlendingRadius=0.0, nMoveReference=MOVE_REFERENCE_BASE, nMoveMode=MOVE_MODE_ABSOLUTE, fAngle1=0.0, fAngle2=0.0, nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, nSyncType=0)
Definition: dsr_service_motion_basic.py:71

py
Author(s):
autogenerated on Sat May 18 2019 02:32:55