dsr_service_motion_basic Namespace Reference

Functions
def	_ros_listToFloat64MultiArray (list_src)
def	amove_periodic (fAmplitude, fPeriodic, fAccelTime=0.0, nRepeat=1, nMoveReference=MOVE_REFERENCE_TOOL, nSyncType=0)
def	amove_spiral (nTaskAxis, fRevolution, fMaxRadius, fMaxLength, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveReference=MOVE_REFERENCE_TOOL, nSyncType=0)
def	amoveb (fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nMoveReference=MOVE_REFERENCE_BASE, nSyncType=0)
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)
def	amovej (fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0, fBlendingRadius=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, nSyncType=1)
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)
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)
def	amovesj (fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nSyncType=0)
def	amovesx (fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nMoveReference=MOVE_REFERENCE_BASE, nVelOpt=SPLINE_VELOCITY_OPTION_DEFAULT, nSyncType=0)
def	move_periodic (fAmplitude, fPeriodic, fAccelTime=0.0, nRepeat=1, nMoveReference=MOVE_REFERENCE_TOOL, nSyncType=0)
def	move_spiral (nTaskAxis, fRevolution, fMaxRadius, fMaxLength, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveReference=MOVE_REFERENCE_TOOL, nSyncType=0)
def	move_wait ()
def	moveb (fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nMoveReference=MOVE_REFERENCE_BASE, nSyncType=0)
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)
def	movej (fTargetPos, fTargetVel, fTargetAcc, fTargetTime=0.0, fBlendingRadius=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nBlendingType=BLENDING_SPEED_TYPE_DUPLICATE, nSyncType=0)
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)
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)
def	movesj (fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nSyncType=0)
def	movesx (fTargetPos, nPosCount, fTargetVel, fTargetAcc, fTargetTime=0.0, nMoveMode=MOVE_MODE_ABSOLUTE, nMoveReference=MOVE_REFERENCE_BASE, nVelOpt=SPLINE_VELOCITY_OPTION_DEFAULT, nSyncType=0)
def	SET_ROBOT (id, model)
def	shutdown ()

Variables
list	accx = [1000.0, 322.5]
list	amp = [10.00, 0.00, 20.00, 0.00, 0.50, 0.00]
list	bx1 = [564.00, 200.00, 690.00, 0.00, 180.00, 0.00]+[0, 0, 0, 0, 0, 0]
list	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]
list	bx_type1 = [40.0]
list	bx_type2 = [20.0]
list	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]]
	dont_write_bytecode
list	j1 = [0.0, 0.0, 90.0, 0.0, 90.0, 0.0]
string	my_robot_id = "dsr01"
string	my_robot_model = "m1013"
list	period = [1.00, 0.00, 1.50, 0.00, 0.00, 0.00]
list	posb = [seg1, seg2]
	posCnt = len(posb)
	pub_stop = rospy.Publisher('/'+ROBOT_ID +ROBOT_MODEL+'/stop', RobotStop, queue_size=10)
string	ROBOT_ID = "dsr01"
string	ROBOT_MODEL = "m1013"
	seg1 = bx1+bx_type1+bx_radius1
	seg2 = bx2+bx_type2+bx_radius2
list	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]]
	srv_move_blending = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_blending', MoveBlending)
	srv_move_circle = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_circle', MoveCircle)
	srv_move_joint = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_joint', MoveJoint)
	srv_move_jointx = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_jointx', MoveJointx)
	srv_move_line = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_line', MoveLine)
	srv_move_periodic = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_periodic', MovePeriodic)
	srv_move_spiral = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spiral', MoveSpiral)
	srv_move_spline_joint = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spline_joint', MoveSplineJoint)
	srv_move_spline_task = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spline_task', MoveSplineTask)
	srv_move_wait = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_wait', MoveWait)
list	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]]
list	velx = [250.0, 80.625]
list	x1 = [0.0, 0.0, -100.0, 0.0, 0.0, 0.0]
list	x2 = [545,100,514,0,-180,0]

Function Documentation

def dsr_service_motion_basic._ros_listToFloat64MultiArray (   list_src )

private

Definition at line 36 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.amove_periodic	(		fAmplitude,
			fPeriodic,
			fAccelTime = 0.0,
			nRepeat = 1,
			nMoveReference = MOVE_REFERENCE_TOOL,
			nSyncType = 0
	)

Definition at line 125 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.amove_spiral	(		nTaskAxis,
			fRevolution,
			fMaxRadius,
			fMaxLength,
			fTargetVel,
			fTargetAcc,
			fTargetTime = 0.0,
			nMoveReference = MOVE_REFERENCE_TOOL,
			nSyncType = 0
	)

Definition at line 117 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.amoveb	(		fTargetPos,
			nPosCount,
			fTargetVel,
			fTargetAcc,
			fTargetTime = 0.0,
			nMoveMode = MOVE_MODE_ABSOLUTE,
			nMoveReference = MOVE_REFERENCE_BASE,
			nSyncType = 0
	)

Definition at line 108 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.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 at line 76 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.amovej	(		fTargetPos,
			fTargetVel,
			fTargetAcc,
			fTargetTime = 0.0,
			fBlendingRadius = 0.0,
			nMoveMode = MOVE_MODE_ABSOLUTE,
			nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE,
			nSyncType = 1
	)

Definition at line 50 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.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 at line 66 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.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 at line 58 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.amovesj	(		fTargetPos,
			nPosCount,
			fTargetVel,
			fTargetAcc,
			fTargetTime = 0.0,
			nMoveMode = MOVE_MODE_ABSOLUTE,
			nSyncType = 0
	)

Definition at line 88 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.amovesx	(		fTargetPos,
			nPosCount,
			fTargetVel,
			fTargetAcc,
			fTargetTime = 0.0,
			nMoveMode = MOVE_MODE_ABSOLUTE,
			nMoveReference = MOVE_REFERENCE_BASE,
			nVelOpt = SPLINE_VELOCITY_OPTION_DEFAULT,
			nSyncType = 0
	)

Definition at line 98 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.move_periodic	(		fAmplitude,
			fPeriodic,
			fAccelTime = 0.0,
			nRepeat = 1,
			nMoveReference = MOVE_REFERENCE_TOOL,
			nSyncType = 0
	)

Definition at line 122 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.move_spiral	(		nTaskAxis,
			fRevolution,
			fMaxRadius,
			fMaxLength,
			fTargetVel,
			fTargetAcc,
			fTargetTime = 0.0,
			nMoveReference = MOVE_REFERENCE_TOOL,
			nSyncType = 0
	)

Definition at line 114 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.move_wait

(

)

Definition at line 129 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.moveb	(		fTargetPos,
			nPosCount,
			fTargetVel,
			fTargetAcc,
			fTargetTime = 0.0,
			nMoveMode = MOVE_MODE_ABSOLUTE,
			nMoveReference = MOVE_REFERENCE_BASE,
			nSyncType = 0
	)

Definition at line 104 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.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 at line 71 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.movej	(		fTargetPos,
			fTargetVel,
			fTargetAcc,
			fTargetTime = 0.0,
			fBlendingRadius = 0.0,
			nMoveMode = MOVE_MODE_ABSOLUTE,
			nBlendingType = BLENDING_SPEED_TYPE_DUPLICATE,
			nSyncType = 0
	)

Definition at line 47 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.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 at line 63 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.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 at line 55 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.movesj	(		fTargetPos,
			nPosCount,
			fTargetVel,
			fTargetAcc,
			fTargetTime = 0.0,
			nMoveMode = MOVE_MODE_ABSOLUTE,
			nSyncType = 0
	)

Definition at line 83 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.movesx	(		fTargetPos,
			nPosCount,
			fTargetVel,
			fTargetAcc,
			fTargetTime = 0.0,
			nMoveMode = MOVE_MODE_ABSOLUTE,
			nMoveReference = MOVE_REFERENCE_BASE,
			nVelOpt = SPLINE_VELOCITY_OPTION_DEFAULT,
			nSyncType = 0
	)

Definition at line 94 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.SET_ROBOT	(		id,
			model
	)

Definition at line 30 of file dsr_service_motion_basic.py.

def dsr_service_motion_basic.shutdown

(

)

Definition at line 133 of file dsr_service_motion_basic.py.

Variable Documentation

list dsr_service_motion_basic.accx = [1000.0, 322.5]

Definition at line 171 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.amp = [10.00, 0.00, 20.00, 0.00, 0.50, 0.00]

Definition at line 188 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.bx1 = [564.00, 200.00, 690.00, 0.00, 180.00, 0.00]+[0, 0, 0, 0, 0, 0]

Definition at line 182 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.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]

Definition at line 185 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.bx_type1 = [40.0]

Definition at line 183 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.bx_type2 = [20.0]

Definition at line 186 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.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]]

Definition at line 179 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.dont_write_bytecode

Definition at line 12 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.j1 = [0.0, 0.0, 90.0, 0.0, 90.0, 0.0]

Definition at line 173 of file dsr_service_motion_basic.py.

string dsr_service_motion_basic.my_robot_id = "dsr01"

Definition at line 143 of file dsr_service_motion_basic.py.

string dsr_service_motion_basic.my_robot_model = "m1013"

Definition at line 144 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.period = [1.00, 0.00, 1.50, 0.00, 0.00, 0.00]

Definition at line 189 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.posb = [seg1, seg2]

Definition at line 213 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.posCnt = len(posb)

Definition at line 214 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.pub_stop = rospy.Publisher('/'+ROBOT_ID +ROBOT_MODEL+'/stop', RobotStop, queue_size=10)

Definition at line 151 of file dsr_service_motion_basic.py.

string dsr_service_motion_basic.ROBOT_ID = "dsr01"

Definition at line 28 of file dsr_service_motion_basic.py.

string dsr_service_motion_basic.ROBOT_MODEL = "m1013"

Definition at line 29 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.seg1 = bx1+bx_type1+bx_radius1

Definition at line 210 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.seg2 = bx2+bx_type2+bx_radius2

Definition at line 211 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.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]]

Definition at line 175 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.srv_move_blending = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_blending', MoveBlending)

Definition at line 164 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.srv_move_circle = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_circle', MoveCircle)

Definition at line 160 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.srv_move_joint = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_joint', MoveJoint)

Definition at line 156 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.srv_move_jointx = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_jointx', MoveJointx)

Definition at line 157 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.srv_move_line = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_line', MoveLine)

Definition at line 159 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.srv_move_periodic = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_periodic', MovePeriodic)

Definition at line 166 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.srv_move_spiral = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spiral', MoveSpiral)

Definition at line 165 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.srv_move_spline_joint = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spline_joint', MoveSplineJoint)

Definition at line 161 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.srv_move_spline_task = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_spline_task', MoveSplineTask)

Definition at line 162 of file dsr_service_motion_basic.py.

dsr_service_motion_basic.srv_move_wait = rospy.ServiceProxy('/'+ROBOT_ID +ROBOT_MODEL+'/motion/move_wait', MoveWait)

Definition at line 167 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.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]]

Definition at line 180 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.velx = [250.0, 80.625]

Definition at line 170 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.x1 = [0.0, 0.0, -100.0, 0.0, 0.0, 0.0]

Definition at line 177 of file dsr_service_motion_basic.py.

list dsr_service_motion_basic.x2 = [545,100,514,0,-180,0]

Definition at line 178 of file dsr_service_motion_basic.py.