Functions
def	_ros_listToFloat64MultiArray (list_src)

def	SET_ROBOT (id, model)

def	shutdown ()

Variables
list	accx = [100, 100]

list	amp = [10,0,0,0,30,0]

float	angle1 = 0.0

float	atime = 0.2

list	bx11 = [21.0]

list	bx21 = [22.0]

list	bx31 = [23.0]

list	c1 = [559,434.5,651.5,0,180,0]

list	c2 = [559,434.5,251.5,0,180,0]

def	CirclePos = _ros_listToFloat64MultiArray([c1, c2])

	dont_write_bytecode

float	maxLength = 50.0

float	maxRadius = 20.0

def	mb_seg = _ros_listToFloat64MultiArray([seg1, seg2, seg3])

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

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

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

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

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

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

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

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

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

string	my_robot_id = "dsr01"

string	my_robot_model = "m1013"

int	opt = 0

list	p1 = [0,0,0,0,0,0]

list	p2 = [0.0, 0.0, 90.0, 0.0, 90.0, 0.0]

list	period = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]

	posCnt = len(mb_seg)

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

list	q0 = [0,0,0,0,0,0]

list	q1 = [10, -10, 20, -30, 10, 20]

list	q2 = [25, 0, 10, -50, 20, 40]

list	q3 = [50, 50, 50, 50, 50, 50]

list	q4 = [30, 10, 30, -20, 10, 60]

list	q5 = [20, 20, 40, 20, 0, 90]

int	repeat = 5

int	revolution = 9

string	ROBOT_ID = "dsr01"

string	ROBOT_MODEL = "m1013"

list	seg1 = bx11 + bx12 + bx_type1 + bx_radius1

list	seg2 = bx21 + bx22 + bx_type2 + bx_radius2

list	seg3 = bx31 + bx32 + bx_type3 + bx_radius3

def	SplinePosj = _ros_listToFloat64MultiArray([q0,q1,q2,q3,q4,q5])

def	SplinePosx = _ros_listToFloat64MultiArray([x1, x2, x3, x4, x5, x6])

int	taskAxis = 0

float	time = 0

int	vel = 0

list	velx = [50, 50]

list	x1 = [400, 500, 800.0, 0.0, 180.0, 0.0]

list	x2 = [400, 500, 500.0, 0.0, 180.0, 0.0]

list	x3 = [150, 600, 450, 0, 175, 0]

list	x4 = [-300, 300, 300, 0, 175, 0]

list	x5 = [-200, 700, 500, 0, 175, 0]

list	x6 = [600, 600, 400, 0, 175, 0]

Function Documentation

◆ _ros_listToFloat64MultiArray()

def dsr_basic_test._ros_listToFloat64MultiArray ( list_src )

private

Definition at line 33 of file dsr_basic_test.py.

◆ SET_ROBOT()

def dsr_basic_test.SET_ROBOT	(	id,
		model
	)

Definition at line 21 of file dsr_basic_test.py.

◆ shutdown()

def dsr_basic_test.shutdown ( )

Definition at line 24 of file dsr_basic_test.py.

Variable Documentation

◆ accx

list dsr_basic_test.accx = [100, 100]

Definition at line 80 of file dsr_basic_test.py.

◆ amp

list dsr_basic_test.amp = [10,0,0,0,30,0]

Definition at line 108 of file dsr_basic_test.py.

◆ angle1

float dsr_basic_test.angle1 = 0.0

Definition at line 72 of file dsr_basic_test.py.

◆ atime

float dsr_basic_test.atime = 0.2

Definition at line 110 of file dsr_basic_test.py.

◆ bx11

list dsr_basic_test.bx11 = [21.0]

Definition at line 114 of file dsr_basic_test.py.

◆ bx21

list dsr_basic_test.bx21 = [22.0]

Definition at line 115 of file dsr_basic_test.py.

◆ bx31

list dsr_basic_test.bx31 = [23.0]

Definition at line 116 of file dsr_basic_test.py.

◆ c1

list dsr_basic_test.c1 = [559,434.5,651.5,0,180,0]

Definition at line 82 of file dsr_basic_test.py.

◆ c2

list dsr_basic_test.c2 = [559,434.5,251.5,0,180,0]

Definition at line 83 of file dsr_basic_test.py.

◆ CirclePos

def dsr_basic_test.CirclePos = _ros_listToFloat64MultiArray([c1, c2])

Definition at line 84 of file dsr_basic_test.py.

◆ dont_write_bytecode

dsr_basic_test.dont_write_bytecode

Definition at line 12 of file dsr_basic_test.py.

◆ maxLength

float dsr_basic_test.maxLength = 50.0

Definition at line 106 of file dsr_basic_test.py.

◆ maxRadius

float dsr_basic_test.maxRadius = 20.0

Definition at line 105 of file dsr_basic_test.py.

◆ mb_seg

def dsr_basic_test.mb_seg = _ros_listToFloat64MultiArray([seg1, seg2, seg3])

Definition at line 122 of file dsr_basic_test.py.

◆ move_blending

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

Definition at line 66 of file dsr_basic_test.py.

◆ move_circle

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

Definition at line 62 of file dsr_basic_test.py.

◆ move_joint

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

Definition at line 58 of file dsr_basic_test.py.

◆ move_jointx

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

Definition at line 59 of file dsr_basic_test.py.

◆ move_line

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

Definition at line 61 of file dsr_basic_test.py.

◆ move_periodic

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

Definition at line 68 of file dsr_basic_test.py.

◆ move_spiral

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

Definition at line 67 of file dsr_basic_test.py.

◆ move_spline_joint

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

Definition at line 63 of file dsr_basic_test.py.

◆ move_spline_task

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

Definition at line 64 of file dsr_basic_test.py.

◆ my_robot_id

string dsr_basic_test.my_robot_id = "dsr01"

Definition at line 45 of file dsr_basic_test.py.

◆ my_robot_model

string dsr_basic_test.my_robot_model = "m1013"

Definition at line 46 of file dsr_basic_test.py.

◆ opt

int dsr_basic_test.opt = 0

Definition at line 73 of file dsr_basic_test.py.

◆ p1

list dsr_basic_test.p1 = [0,0,0,0,0,0]

Definition at line 75 of file dsr_basic_test.py.

◆ p2

list dsr_basic_test.p2 = [0.0, 0.0, 90.0, 0.0, 90.0, 0.0]

Definition at line 76 of file dsr_basic_test.py.

◆ period

list dsr_basic_test.period = [1.0, 1.0, 1.0, 1.0, 1.0, 1.0]

Definition at line 109 of file dsr_basic_test.py.

◆ posCnt

dsr_basic_test.posCnt = len(mb_seg)

Definition at line 123 of file dsr_basic_test.py.

◆ pub_stop

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

Definition at line 53 of file dsr_basic_test.py.

◆ q0

list dsr_basic_test.q0 = [0,0,0,0,0,0]

Definition at line 86 of file dsr_basic_test.py.

◆ q1

list dsr_basic_test.q1 = [10, -10, 20, -30, 10, 20]

Definition at line 87 of file dsr_basic_test.py.

◆ q2

list dsr_basic_test.q2 = [25, 0, 10, -50, 20, 40]

Definition at line 88 of file dsr_basic_test.py.

◆ q3

list dsr_basic_test.q3 = [50, 50, 50, 50, 50, 50]

Definition at line 89 of file dsr_basic_test.py.

◆ q4

list dsr_basic_test.q4 = [30, 10, 30, -20, 10, 60]

Definition at line 90 of file dsr_basic_test.py.

◆ q5

list dsr_basic_test.q5 = [20, 20, 40, 20, 0, 90]

Definition at line 91 of file dsr_basic_test.py.

◆ repeat

int dsr_basic_test.repeat = 5

Definition at line 111 of file dsr_basic_test.py.

◆ revolution

int dsr_basic_test.revolution = 9

Definition at line 104 of file dsr_basic_test.py.

◆ ROBOT_ID

string dsr_basic_test.ROBOT_ID = "dsr01"

Definition at line 19 of file dsr_basic_test.py.

◆ ROBOT_MODEL

string dsr_basic_test.ROBOT_MODEL = "m1013"

Definition at line 20 of file dsr_basic_test.py.

◆ seg1

list dsr_basic_test.seg1 = bx11 + bx12 + bx_type1 + bx_radius1

Definition at line 118 of file dsr_basic_test.py.

◆ seg2

list dsr_basic_test.seg2 = bx21 + bx22 + bx_type2 + bx_radius2

Definition at line 119 of file dsr_basic_test.py.

◆ seg3

list dsr_basic_test.seg3 = bx31 + bx32 + bx_type3 + bx_radius3

Definition at line 120 of file dsr_basic_test.py.

◆ SplinePosj

def dsr_basic_test.SplinePosj = _ros_listToFloat64MultiArray([q0,q1,q2,q3,q4,q5])

Definition at line 92 of file dsr_basic_test.py.

◆ SplinePosx

def dsr_basic_test.SplinePosx = _ros_listToFloat64MultiArray([x1, x2, x3, x4, x5, x6])

Definition at line 100 of file dsr_basic_test.py.

◆ taskAxis

int dsr_basic_test.taskAxis = 0

Definition at line 103 of file dsr_basic_test.py.

◆ time

float dsr_basic_test.time = 0

Definition at line 70 of file dsr_basic_test.py.

◆ vel

int dsr_basic_test.vel = 0

Definition at line 71 of file dsr_basic_test.py.

◆ velx

list dsr_basic_test.velx = [50, 50]

Definition at line 79 of file dsr_basic_test.py.

◆ x1

list dsr_basic_test.x1 = [400, 500, 800.0, 0.0, 180.0, 0.0]

Definition at line 77 of file dsr_basic_test.py.

◆ x2

list dsr_basic_test.x2 = [400, 500, 500.0, 0.0, 180.0, 0.0]

Definition at line 78 of file dsr_basic_test.py.

◆ x3

list dsr_basic_test.x3 = [150, 600, 450, 0, 175, 0]

Definition at line 96 of file dsr_basic_test.py.

◆ x4

list dsr_basic_test.x4 = [-300, 300, 300, 0, 175, 0]

Definition at line 97 of file dsr_basic_test.py.

◆ x5

list dsr_basic_test.x5 = [-200, 700, 500, 0, 175, 0]

Definition at line 98 of file dsr_basic_test.py.

◆ x6

list dsr_basic_test.x6 = [600, 600, 400, 0, 175, 0]

Definition at line 99 of file dsr_basic_test.py.

Functions

Variables