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Updated calc docstrings and removed deprecated flag #97

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Merged
merged 4 commits into from
Sep 30, 2021
Merged

Updated calc docstrings and removed deprecated flag #97

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95f7349
Updated calc docstrings and removed deprecated flag
euanwm Sep 22, 2021
8221d0a
PR comment done
euanwm Sep 22, 2021
450626f
Fixed mis-labelled variable in normalize func
euanwm Sep 23, 2021
34f96a4
WIP
euanwm Sep 24, 2021
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23 changes: 8 additions & 15 deletions evasdk/Eva.py
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Original file line number Diff line number Diff line change
Expand Up @@ -863,18 +863,16 @@ def control_acknowledge_collision(self, wait_for_ready=True):
return self.__http_client.control_acknowledge_collision(wait_for_ready=wait_for_ready)

# Calc
def calc_forward_kinematics(self, joints, fk_type='both', tcp_config=None):
def calc_forward_kinematics(self, joints, fk_type=None, tcp_config=None):
"""Gives the position of the robot and orientation of end-effector in 3D space.

Args:
joints (list): a list of joint angles in RADIANS
fk_type (str): 'position', 'orientation', 'both' are available FK types.
Position is the XYZ of the end-effector in METERS from the middle-bottom-center of the robot.
Orientation is the quaternion WXYZ values of the angle of the end-effector.
tcp_config (dict, optional): dict containing TCP configuration.
fk_type (str): deprecated for 5.0.0
tcp_config (dict, optional): dict containing TCP configuration

Returns:
dict: containing 'result', 'success', and the FK type requested.
dict: containing 'result' value, 'position' dict, and 'orientation' dict

Raises:
EvaError: If it is not successful
Expand All @@ -883,10 +881,6 @@ def calc_forward_kinematics(self, joints, fk_type='both', tcp_config=None):
>>> eva.calc_forward_kinematics([0,0,0,0,0,0])
{'result': 'success', 'position': {'x': -0.065000005, 'y': -8.960835e-09, 'z': 0.87839997},
'orientation': {'w': 1, 'x': 0, 'y': 0, 'z': 0}}
>>> eva.calc_forward_kinematics([0,0,0,0,0,0], fk_type='position')
{'x': -0.065000005, 'y': -8.960835e-09, 'z': 0.87839997}
>>> eva.calc_forward_kinematics([0,0,0,0,0,0], fk_type='orientation')
{'w': 1, 'x': 0, 'y': 0, 'z': 0}
"""
self.__logger.debug('Eva.calc_forward_kinematics called')
return self.__http_client.calc_forward_kinematics(joints, fk_type=fk_type, tcp_config=tcp_config)
Expand All @@ -904,7 +898,7 @@ def calc_inverse_kinematics(self, guess, target_position, target_orientation, tc
orientation_type (str: optional): 'matrix', 'axis_angle', 'euler_zyx', or 'quat'(default) orientation types

Returns:
dict: containing 'ik' dict with joint angles (if successful) and 'result' of function call
list: containing joint angles if successful

Raises:
EvaError: If it is not successful
Expand All @@ -914,7 +908,7 @@ def calc_inverse_kinematics(self, guess, target_position, target_orientation, tc
>>> eva_orientation = {'w': 1, 'x': 0, 'y': 0, 'z': 0}
>>> eva_guess = [0, 0, 0, 0, 0, 0]
>>> robot.calc_inverse_kinematics(eva_guess, eva_position, eva_orientation)
{'ik': {'joints': [0, 0, 0, 0, 0, 0], 'result': 'success'}}
[0, 0, 0, 0, 0, 0]
"""
self.__logger.debug('Eva.calc_inverse_kinematics called')
return self.__http_client.calc_inverse_kinematics(guess, target_position, target_orientation,
Expand Down Expand Up @@ -982,7 +976,7 @@ def calc_rotate(self, joints, axis, offset, tcp_config=None):
TCP is considered to be the end-effector of the Robot.

Returns:
dict: containing rotate dict with joint angles and result dict of success/failure
list: containing joint angles

Raises:
EvaError: If it is not successful
Expand All @@ -992,8 +986,7 @@ def calc_rotate(self, joints, axis, offset, tcp_config=None):
>>> "radius": 0.07,
>>> "rotations": {"x": 0, "y": 0, "z": 0}}
>>> robot.calc_rotate([0, 0, 0, 0, 0, 0], axis='y', offset=0.1, tcp_config=eva_tcp)
{'rotate': {'joints': [-2.1625242e-09, -0.012081009, 0.09259305, 3.102962e-09, -0.1803575, -5.4273075e-09],
'result': 'success'}}
[-2.1625242e-09, -0.012081009, 0.09259305, 3.102962e-09, -0.1803575, -5.4273075e-09]
"""
self.__logger.debug('Eva.calc_rotate called')
return self.__http_client.calc_rotate(joints, axis, offset, tcp_config=tcp_config)
2 changes: 1 addition & 1 deletion evasdk/eva_http_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@


class EvaHTTPClient:
N_DIGITS = 8
__N_DIGITS = 8

"""
Eva HTTP client
Expand Down