Functions | |
| def | msgRobotState_cb (msg) |
| def | shutdown () |
| def | thread_subscriber () |
Variables | |
| __dsr__id | |
| __dsr__model | |
| a | |
| list | acc_spi = [150, 150] |
| list | accx = [0, 0] |
| list | amp = [0, 0, 0, 30, 30, 0] |
| axis | |
| daemon | |
| dont_write_bytecode | |
| DR_AXIS_X | |
| DR_BASE | |
| DR_MV_MOD_ABS | |
| DR_TOOL | |
| list | dREL1 = [0, 0, 350, 0, 0, 0] |
| list | dREL2 = [0, 0, -350, 0, 0, 0] |
| list | J00 = [-180, 0, -145, 0, -35, 0] |
| list | J01r = [-180.0, 71.4, -145.0, 0.0, -9.7, 0.0] |
| list | J02r = [-180.0, 67.7, -144.0, 0.0, 76.3, 0.0] |
| list | J03r = [-180.0, 0.0, 0.0, 0.0, 0.0, 0.0] |
| list | J04r = [-90.0, 0.0, 0.0, 0.0, 0.0, 0.0] |
| list | J04r1 = [-90.0, 30.0, -60.0, 0.0, 30.0, -0.0] |
| list | J04r2 = [-90.0, -45.0, 90.0, 0.0, -45.0, -0.0] |
| list | J04r3 = [-90.0, 60.0, -120.0, 0.0, 60.0, -0.0] |
| list | J04r4 = [-90.0, 0.0, -0.0, 0.0, 0.0, -0.0] |
| list | J05r = [-144.0, -4.0, -84.8, -90.9, 54.0, -1.1] |
| list | J07r = [-152.4, 12.4, -78.6, 18.7, -68.3, -37.7] |
| list | J08r = [-90.0, 30.0, -120.0, -90.0, -90.0, 0.0] |
| list | J1 = [81.2, 20.8, 127.8, 162.5, 56.1, -37.1] |
| list | JEnd = [0.0, -12.6, 101.1, 0.0, 91.5, -0.0] |
| list | JReady = [0, -20, 110, 0, 60, 0] |
| lmax | |
| mod | |
| list | period = [0, 0, 0, 3, 6, 0] |
| pos1 | |
| pos2 | |
| pub_stop = rospy.Publisher('/'+ROBOT_ID +ROBOT_MODEL+'/stop', RobotStop, queue_size=10) | |
| radius | |
| ref | |
| rev | |
| rmax | |
| string | ROBOT_ID = "dsr01" |
| string | ROBOT_MODEL = "m1013" |
| t | |
| t1 = threading.Thread(target=thread_subscriber) | |
| list | TCP_POS = [0, 0, 0, 0, 0, 0] |
| v | |
| list | vel_spi = [400, 400] |
| list | velx = [0, 0] |
| list | X0 = [-88.7, 799.0, 182.3, 95.7, 93.7, 133.9] |
| list | x01 = [423.6, 334.5, 651.2, 84.7, -180.0, 84.7] |
| list | x02 = [423.6, 34.5, 951.2, 68.2, -180.0, 68.2] |
| list | x0204c = [x02, x04] |
| list | x03 = [423.6, -265.5, 651.2, 76.1, -180.0, 76.1] |
| list | x04 = [423.6, 34.5, 351.2, 81.3, -180.0, 81.3] |
| list | X1 = [304.2, 871.8, 141.5, 99.5, 84.9, 133.4] |
| list | X2 = [437.1, 876.9, 362.1, 99.6, 84.0, 132.1] |
| list | X3 = [-57.9, 782.4, 478.4, 99.6, 84.0, 132.1] |
| def dance_m1013.msgRobotState_cb | ( | msg | ) |
Definition at line 30 of file dance_m1013.py.
| def dance_m1013.shutdown | ( | ) |
Definition at line 22 of file dance_m1013.py.
| def dance_m1013.thread_subscriber | ( | ) |
Definition at line 52 of file dance_m1013.py.
|
private |
Definition at line 18 of file dance_m1013.py.
|
private |
Definition at line 19 of file dance_m1013.py.
| dance_m1013.a |
Definition at line 116 of file dance_m1013.py.
| dance_m1013.acc_spi = [150, 150] |
Definition at line 98 of file dance_m1013.py.
| dance_m1013.accx = [0, 0] |
Definition at line 95 of file dance_m1013.py.
| list dance_m1013.amp = [0, 0, 0, 30, 30, 0] |
Definition at line 106 of file dance_m1013.py.
| dance_m1013.axis |
Definition at line 152 of file dance_m1013.py.
| dance_m1013.daemon |
Definition at line 62 of file dance_m1013.py.
| dance_m1013.dont_write_bytecode |
Definition at line 11 of file dance_m1013.py.
| dance_m1013.DR_AXIS_X |
Definition at line 152 of file dance_m1013.py.
| dance_m1013.DR_BASE |
Definition at line 122 of file dance_m1013.py.
| dance_m1013.DR_MV_MOD_ABS |
Definition at line 160 of file dance_m1013.py.
| dance_m1013.DR_TOOL |
Definition at line 143 of file dance_m1013.py.
| dance_m1013.dREL1 = [0, 0, 350, 0, 0, 0] |
Definition at line 91 of file dance_m1013.py.
| dance_m1013.dREL2 = [0, 0, -350, 0, 0, 0] |
Definition at line 92 of file dance_m1013.py.
| dance_m1013.J00 = [-180, 0, -145, 0, -35, 0] |
Definition at line 73 of file dance_m1013.py.
| dance_m1013.J01r = [-180.0, 71.4, -145.0, 0.0, -9.7, 0.0] |
Definition at line 75 of file dance_m1013.py.
| dance_m1013.J02r = [-180.0, 67.7, -144.0, 0.0, 76.3, 0.0] |
Definition at line 76 of file dance_m1013.py.
| dance_m1013.J03r = [-180.0, 0.0, 0.0, 0.0, 0.0, 0.0] |
Definition at line 77 of file dance_m1013.py.
| dance_m1013.J04r = [-90.0, 0.0, 0.0, 0.0, 0.0, 0.0] |
Definition at line 79 of file dance_m1013.py.
| dance_m1013.J04r1 = [-90.0, 30.0, -60.0, 0.0, 30.0, -0.0] |
Definition at line 80 of file dance_m1013.py.
| dance_m1013.J04r2 = [-90.0, -45.0, 90.0, 0.0, -45.0, -0.0] |
Definition at line 81 of file dance_m1013.py.
| dance_m1013.J04r3 = [-90.0, 60.0, -120.0, 0.0, 60.0, -0.0] |
Definition at line 82 of file dance_m1013.py.
| dance_m1013.J04r4 = [-90.0, 0.0, -0.0, 0.0, 0.0, -0.0] |
Definition at line 83 of file dance_m1013.py.
| dance_m1013.J05r = [-144.0, -4.0, -84.8, -90.9, 54.0, -1.1] |
Definition at line 85 of file dance_m1013.py.
| dance_m1013.J07r = [-152.4, 12.4, -78.6, 18.7, -68.3, -37.7] |
Definition at line 86 of file dance_m1013.py.
| dance_m1013.J08r = [-90.0, 30.0, -120.0, -90.0, -90.0, 0.0] |
Definition at line 87 of file dance_m1013.py.
| dance_m1013.J1 = [81.2, 20.8, 127.8, 162.5, 56.1, -37.1] |
Definition at line 100 of file dance_m1013.py.
| dance_m1013.JEnd = [0.0, -12.6, 101.1, 0.0, 91.5, -0.0] |
Definition at line 89 of file dance_m1013.py.
| dance_m1013.JReady = [0, -20, 110, 0, 60, 0] |
Definition at line 70 of file dance_m1013.py.
| dance_m1013.lmax |
Definition at line 152 of file dance_m1013.py.
| dance_m1013.mod |
Definition at line 122 of file dance_m1013.py.
| list dance_m1013.period = [0, 0, 0, 3, 6, 0] |
Definition at line 107 of file dance_m1013.py.
| dance_m1013.pos1 |
Definition at line 160 of file dance_m1013.py.
| dance_m1013.pos2 |
Definition at line 160 of file dance_m1013.py.
| dance_m1013.pub_stop = rospy.Publisher('/'+ROBOT_ID +ROBOT_MODEL+'/stop', RobotStop, queue_size=10) |
Definition at line 65 of file dance_m1013.py.
| dance_m1013.radius |
Definition at line 122 of file dance_m1013.py.
| dance_m1013.ref |
Definition at line 122 of file dance_m1013.py.
| dance_m1013.rev |
Definition at line 152 of file dance_m1013.py.
| dance_m1013.rmax |
Definition at line 152 of file dance_m1013.py.
| string dance_m1013.ROBOT_ID = "dsr01" |
Definition at line 15 of file dance_m1013.py.
| string dance_m1013.ROBOT_MODEL = "m1013" |
Definition at line 16 of file dance_m1013.py.
| dance_m1013.t |
Definition at line 118 of file dance_m1013.py.
| dance_m1013.t1 = threading.Thread(target=thread_subscriber) |
Definition at line 61 of file dance_m1013.py.
| list dance_m1013.TCP_POS = [0, 0, 0, 0, 0, 0] |
Definition at line 72 of file dance_m1013.py.
| dance_m1013.v |
Definition at line 116 of file dance_m1013.py.
| dance_m1013.vel_spi = [400, 400] |
Definition at line 97 of file dance_m1013.py.
| dance_m1013.velx = [0, 0] |
Definition at line 94 of file dance_m1013.py.
| dance_m1013.X0 = [-88.7, 799.0, 182.3, 95.7, 93.7, 133.9] |
Definition at line 101 of file dance_m1013.py.
| dance_m1013.x01 = [423.6, 334.5, 651.2, 84.7, -180.0, 84.7] |
Definition at line 109 of file dance_m1013.py.
| dance_m1013.x02 = [423.6, 34.5, 951.2, 68.2, -180.0, 68.2] |
Definition at line 110 of file dance_m1013.py.
Definition at line 113 of file dance_m1013.py.
| dance_m1013.x03 = [423.6, -265.5, 651.2, 76.1, -180.0, 76.1] |
Definition at line 111 of file dance_m1013.py.
| dance_m1013.x04 = [423.6, 34.5, 351.2, 81.3, -180.0, 81.3] |
Definition at line 112 of file dance_m1013.py.
| dance_m1013.X1 = [304.2, 871.8, 141.5, 99.5, 84.9, 133.4] |
Definition at line 102 of file dance_m1013.py.
| dance_m1013.X2 = [437.1, 876.9, 362.1, 99.6, 84.0, 132.1] |
Definition at line 103 of file dance_m1013.py.
| dance_m1013.X3 = [-57.9, 782.4, 478.4, 99.6, 84.0, 132.1] |
Definition at line 104 of file dance_m1013.py.