78 lines
2 KiB
Python
78 lines
2 KiB
Python
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from rtde_receive import RTDEReceiveInterface as RTDEReceive
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import time
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import argparse
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import sys
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def parse_args(args):
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"""Parse command line parameters
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Args:
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args ([str]): command line parameters as list of strings
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Returns:
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:obj:`argparse.Namespace`: command line parameters namespace
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"""
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parser = argparse.ArgumentParser(
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description="Record data example")
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parser.add_argument(
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"-ip",
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"--robot_ip",
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dest="ip",
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help="IP address of the UR robot",
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type=str,
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default='localhost',
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metavar="<IP address of the UR robot>")
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parser.add_argument(
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"-o",
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"--output",
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dest="output",
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help="data output (.csv) file to write to (default is \"robot_data.csv\"",
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type=str,
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default="robot_data.csv",
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metavar="<data output file>")
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parser.add_argument(
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"-f",
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"--frequency",
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dest="frequency",
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help="the frequency at which the data is recorded (default is 500Hz)",
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type=float,
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default=500.0,
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metavar="<frequency>")
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return parser.parse_args(args)
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def main(args):
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"""Main entry point allowing external calls
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Args:
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args ([str]): command line parameter list
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"""
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args = parse_args(args)
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dt = 1 / args.frequency
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rtde_r = RTDEReceive(args.ip, args.frequency)
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rtde_r.startFileRecording(args.output)
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print("Data recording started, press [Ctrl-C] to end recording.")
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i = 0
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try:
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while True:
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start = time.time()
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if i % 10 == 0:
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sys.stdout.write("\r")
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sys.stdout.write("{:3d} samples.".format(i))
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sys.stdout.flush()
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end = time.time()
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duration = end - start
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if duration < dt:
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time.sleep(dt - duration)
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i += 1
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except KeyboardInterrupt:
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rtde_r.stopFileRecording()
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print("\nData recording stopped.")
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if __name__ == "__main__":
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main(sys.argv[1:])
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