sintefmedtek / libromocc Goto Github PK

Add support for Python bindings.

I am not able to import pyromocc into python code. I get the error below:

Python 3.11.6 (main, Oct  8 2023, 05:06:43) [GCC 13.2.0] on linux
Type "help", "copyright", "credits" or "license" for more information.
>>> from pyromocc import Robot
Traceback (most recent call last):
  File "<stdin>", line 1, in <module>
  File "/home/steve/Desktop/robot/venv/lib/python3.11/site-packages/pyromocc/__init__.py", line 2, in <module>
    from .pyromocc import *
ModuleNotFoundError: No module named 'pyromocc.pyromocc'

Create an installation guide with examples

Whether you import Robot or scipy.spatial.transform.Rotation and matplotlib.pyplot first you get faulty behaviour, like the robot not connecting or get_pose returning identity.

In robot.py, for speedl the velocity input is 6 elements long, but it is sent to _verify_limits which it looks like assumes it is 3 elements long. So speedl crashes. Is the intended behaviour to pass velocity[:3] to _verify_limits?

There is a bug in with operational_velocity in robot.py, it returns the position and rotation vector instead of the velocity.

Furthermore, get_state().get_operational_velocity() returns the position part of the velocity vector in m/s. I am not sure if this is intended behaviour or not, but elsewhere in the python interface mms are used.

Add support for the Unified Robot Description Format (URDF), to simplify use of multiple different robot arms. http://wiki.ros.org/urdf

UR simulator does not work out-of-the-box on Ubuntu 18.