80 lines
1.9 KiB
Python
80 lines
1.9 KiB
Python
|
from rtde_receive import RTDEReceiveInterface as RTDEReceive
|
||
|
|
import time
|
||
|
|
import argparse
|
||
|
|
import sys
|
||
|
|
|
||
|
|
|
||
|
|
def parse_args(args):
|
||
|
|
"""Parse command line parameters
|
||
|
|
|
||
|
|
Args:
|
||
|
|
args ([str]): command line parameters as list of strings
|
||
|
|
|
||
|
|
Returns:
|
||
|
|
:obj:`argparse.Namespace`: command line parameters namespace
|
||
|
|
"""
|
||
|
|
parser = argparse.ArgumentParser(
|
||
|
|
description="Record data example")
|
||
|
|
parser.add_argument(
|
||
|
|
"-ip",
|
||
|
|
"--robot_ip",
|
||
|
|
dest="ip",
|
||
|
|
help="IP address of the UR robot",
|
||
|
|
type=str,
|
||
|
|
default='localhost',
|
||
|
|
metavar="<IP address of the UR robot>")
|
||
|
|
parser.add_argument(
|
||
|
|
"-o",
|
||
|
|
"--output",
|
||
|
|
dest="output",
|
||
|
|
help="data output (.csv) file to write to (default is \"robot_data.csv\"",
|
||
|
|
type=str,
|
||
|
|
default="robot_data.csv",
|
||
|
|
metavar="<data output file>")
|
||
|
|
parser.add_argument(
|
||
|
|
"-f",
|
||
|
|
"--frequency",
|
||
|
|
dest="frequency",
|
||
|
|
help="the frequency at which the data is recorded (default is 500Hz)",
|
||
|
|
type=float,
|
||
|
|
default=500.0,
|
||
|
|
metavar="<frequency>")
|
||
|
|
|
||
|
|
return parser.parse_args(args)
|
||
|
|
|
||
|
|
|
||
|
|
def main(args):
|
||
|
|
"""Main entry point allowing external calls
|
||
|
|
|
||
|
|
Args:
|
||
|
|
args ([str]): command line parameter list
|
||
|
|
"""
|
||
|
|
args = parse_args(args)
|
||
|
|
dt = 1 / args.frequency
|
||
|
|
rtde_r = RTDEReceive(args.ip, args.frequency)
|
||
|
|
|
||
|
|
|
||
|
|
i = 0
|
||
|
|
try:
|
||
|
|
while True:
|
||
|
|
start = time.time()
|
||
|
|
|
||
|
|
q=rtde_r.getActualQ()
|
||
|
|
print(q)
|
||
|
|
#sys.stdout.write("\r")
|
||
|
|
#sys.stdout.write("{:3d} samples.".format(i))
|
||
|
|
#sys.stdout.flush()
|
||
|
|
end = time.time()
|
||
|
|
duration = end - start
|
||
|
|
|
||
|
|
if duration < dt:
|
||
|
|
time.sleep(dt - duration)
|
||
|
|
i += 1
|
||
|
|
|
||
|
|
except KeyboardInterrupt:
|
||
|
|
|
||
|
|
print("\nData recording stopped.")
|
||
|
|
|
||
|
|
|
||
|
|
if __name__ == "__main__":
|
||
|
|
main(sys.argv[1:])
|