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8004-load_identify.py
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8004-load_identify.py
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2019, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <[email protected]> <[email protected]>
"""
Description: identify load with the end force sensor
"""
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
#######################################################
"""
Just for test example
"""
if len(sys.argv) >= 2:
ip = sys.argv[1]
else:
try:
from configparser import ConfigParser
parser = ConfigParser()
parser.read('../robot.conf')
ip = parser.get('xArm', 'ip')
except:
ip = input('Please input the xArm ip address:')
if not ip:
print('input error, exit')
sys.exit(1)
########################################################
arm = XArmAPI(ip)
arm.motion_enable(enable=True)
arm.clean_error()
arm.set_mode(0)
arm.set_state(0)
time.sleep(0.1)
def progress(item):
print('progress: {}'.format(item['progress']))
arm.register_iden_progress_changed_callback(progress)
start_time = time.monotonic()
arm.ft_sensor_enable(1)
code, result = arm.ft_sensor_iden_load()
end_time = time.monotonic()
print('code={}, result={}, cost_time={}'.format(code, result, end_time - start_time))
arm.release_iden_progress_changed_callback(progress)
arm.ft_sensor_app_set(0)
arm.ft_sensor_enable(0)
arm.disconnect()
# arm.ft_sensor_enable(1)
# # Load identification ?
# response = input("\nDo you need Load Calibration? y(es) / n(o):\n")
# if response == 'y':
# print("Identification process start, please wait for finish..")
# result = arm.ft_sensor_iden_load()[1]
#
# print("\nIdentification result: ")
# print(result)
# response = input("\nContinue? y(es) / n(o):\n")
# if response == 'n':
# print("Bye~")
# exit()
# arm.ft_sensor_cali_load(result)
# else:
# # no need to identify and write load parameters：
# # [load mass : (kg)，Centroid x : (m)，Centroid y : (m)，Centroid z :(m)，offset_Fx (N)，offset_Fx (N)，offset_Fx(N)，offset_Mx(Nm)，offset_My (Nm)，offset_Mz (Nm)]
# result = [0.7131531834602356, -0.0005494913784787059, -0.0026768327224999666, 0.06637067347764969, -17.749963760375977, 2.7701117992401123, -30.62084197998047, 0.13900014758110046, -0.37988412380218506, -0.14760535955429077]
# arm.ft_sensor_cali_load(result)
#
# # waiting to take effect
# time.sleep(1)
# arm.ft_sensor_app_set(0)
# arm.ft_sensor_enable(0)
# arm.disconnect()