Update to new version : 8.0.2.0

Author: github-actions[bot]

underautomation/universal_robots/common/pose.py

@@ -29,6 +29,12 @@ def from_rotation_vector_to4x4_matrix(self) -> typing.List[float]:
 	@staticmethod
 	def from_quaternion_to_rotation_vector(x: float, y: float, z: float, w: float) -> 'Pose':
 		return Pose(None, None, None, None, None, None, pose.FromQuaternionToRotationVector(x, y, z, w))
+	@staticmethod
+	def from4x4_matrix_to_rotation_vector(matrixTransform: typing.List[float]) -> 'Pose':
+		return Pose(None, None, None, None, None, None, pose.From4x4MatrixToRotationVector(matrixTransform))
+	@staticmethod
+	def from4x4_matrix_to_rpy(matrixTransform: typing.List[float]) -> 'Pose':
+		return Pose(None, None, None, None, None, None, pose.From4x4MatrixToRPY(matrixTransform))
 	@property
 	def rx_degrees(self) -> float:
 		return self._instance.RxDegrees

underautomation/universal_robots/common/robot_models_extended.py

@@ -0,0 +1,18 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.UniversalRobots.dll')))
+from UnderAutomation.UniversalRobots.Common import RobotModelsExtended as robot_models_extended
+
+class RobotModelsExtended(int):
+	UR3e = robot_models_extended.UR3e
+	UR5e = robot_models_extended.UR5e
+	UR7e = robot_models_extended.UR7e
+	UR10e = robot_models_extended.UR10e
+	UR12e = robot_models_extended.UR12e
+	UR16e = robot_models_extended.UR16e
+	UR15 = robot_models_extended.UR15
+	UR20 = robot_models_extended.UR20
+	UR30 = robot_models_extended.UR30
+	UR3 = robot_models_extended.UR3
+	UR5 = robot_models_extended.UR5
+	UR10 = robot_models_extended.UR10

underautomation/universal_robots/kinematics/__init__.py

@@ -0,0 +1,49 @@
+import typing
+from underautomation.universal_robots.common.i_ur_dh_parameters import IUrDhParameters
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.UniversalRobots.dll')))
+from UnderAutomation.UniversalRobots.Kinematics import CustomUrDhParameters as custom_ur_dh_parameters
+
+class CustomUrDhParameters:
+	def __init__(self, a2: float, a3: float, d1: float, d4: float, d5: float, d6: float, _internal = 0):
+		if(_internal == 0):
+			self._instance = custom_ur_dh_parameters(a2, a3, d1, d4, d5, d6)
+		else:
+			self._instance = _internal
+	@property
+	def a2(self) -> float:
+		return self._instance.A2
+	@a2.setter
+	def a2(self, value: float):
+		self._instance.A2 = value
+	@property
+	def a3(self) -> float:
+		return self._instance.A3
+	@a3.setter
+	def a3(self, value: float):
+		self._instance.A3 = value
+	@property
+	def d1(self) -> float:
+		return self._instance.D1
+	@d1.setter
+	def d1(self, value: float):
+		self._instance.D1 = value
+	@property
+	def d4(self) -> float:
+		return self._instance.D4
+	@d4.setter
+	def d4(self, value: float):
+		self._instance.D4 = value
+	@property
+	def d5(self) -> float:
+		return self._instance.D5
+	@d5.setter
+	def d5(self, value: float):
+		self._instance.D5 = value
+	@property
+	def d6(self) -> float:
+		return self._instance.D6
+	@d6.setter
+	def d6(self, value: float):
+		self._instance.D6 = value

underautomation/universal_robots/kinematics/custom_ur_dh_parameters.py

@@ -0,0 +1,31 @@
+import typing
+from underautomation.universal_robots.kinematics.transformation_set import TransformationSet
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.UniversalRobots.dll')))
+from UnderAutomation.UniversalRobots.Kinematics import KinematicsResult as kinematics_result
+
+class KinematicsResult:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = kinematics_result()
+		else:
+			self._instance = _internal
+	@property
+	def tool_transform(self) -> typing.List[float]:
+		return self._instance.ToolTransform
+	@tool_transform.setter
+	def tool_transform(self, value: typing.List[float]):
+		self._instance.ToolTransform = value
+	@property
+	def individual_local_transforms(self) -> TransformationSet:
+		return TransformationSet(self._instance.IndividualLocalTransforms)
+	@individual_local_transforms.setter
+	def individual_local_transforms(self, value: TransformationSet):
+		self._instance.IndividualLocalTransforms = value
+	@property
+	def cumulative_global_transforms(self) -> TransformationSet:
+		return TransformationSet(self._instance.CumulativeGlobalTransforms)
+	@cumulative_global_transforms.setter
+	def cumulative_global_transforms(self, value: TransformationSet):
+		self._instance.CumulativeGlobalTransforms = value

underautomation/universal_robots/kinematics/kinematics_result.py

@@ -0,0 +1,37 @@
+import typing
+from underautomation.universal_robots.kinematics.kinematics_result import KinematicsResult
+from underautomation.universal_robots.common.i_ur_dh_parameters import IUrDhParameters
+from underautomation.universal_robots.kinematics.singularity_type import SingularityType
+from underautomation.universal_robots.common.robot_models_extended import RobotModelsExtended
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.UniversalRobots.dll')))
+from UnderAutomation.UniversalRobots.Kinematics import KinematicsUtils as kinematics_utils
+
+class KinematicsUtils:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = kinematics_utils()
+		else:
+			self._instance = _internal
+	@staticmethod
+	def dh_transform(theta: float, d: float, a: float, alpha: float) -> typing.List[float]:
+		return kinematics_utils.DHTransform(theta, d, a, alpha)
+	@staticmethod
+	def homogeneous_multiply(A: typing.List[float], B: typing.List[float]) -> typing.List[float]:
+		return kinematics_utils.HomogeneousMultiply(A, B)
+	@staticmethod
+	def forward_kinematics(jointAnglesRad: typing.List[float], dhParameters: IUrDhParameters) -> KinematicsResult:
+		return KinematicsResult(kinematics_utils.ForwardKinematics(jointAnglesRad, dhParameters._instance))
+	@staticmethod
+	def get_nearest_solution(jointSolutions: typing.List[float], jointReference: typing.List[float]) -> typing.List[float]:
+		return kinematics_utils.GetNearestSolution(jointSolutions, jointReference)
+	@staticmethod
+	def inverse_kinematics(toolTransform: typing.List[float], dhParameters: IUrDhParameters) -> typing.List[float]:
+		return kinematics_utils.InverseKinematics(toolTransform, dhParameters._instance)
+	@staticmethod
+	def get_singularity(elbow: float, shoulder: float, wrist1: float, wrist2: float, dhParameters: IUrDhParameters) -> SingularityType:
+		return SingularityType(kinematics_utils.GetSingularity(elbow, shoulder, wrist1, wrist2, dhParameters._instance))
+	@staticmethod
+	def get_dh_parameters_from_model(model: RobotModelsExtended) -> IUrDhParameters:
+		return IUrDhParameters(kinematics_utils.GetDhParametersFromModel(model._instance))

underautomation/universal_robots/kinematics/kinematics_utils.py

@@ -0,0 +1,9 @@
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.UniversalRobots.dll')))
+from UnderAutomation.UniversalRobots.Kinematics import SingularityType as singularity_type
+
+class SingularityType(int):
+	Wrist = singularity_type.Wrist
+	Elbow = singularity_type.Elbow
+	Shoulder = singularity_type.Shoulder

underautomation/universal_robots/kinematics/singularity_type.py

@@ -0,0 +1,48 @@
+import typing
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.UniversalRobots.dll')))
+from UnderAutomation.UniversalRobots.Kinematics import TransformationSet as transformation_set
+
+class TransformationSet:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = transformation_set()
+		else:
+			self._instance = _internal
+	@property
+	def base(self) -> typing.List[float]:
+		return self._instance.Base
+	@base.setter
+	def base(self, value: typing.List[float]):
+		self._instance.Base = value
+	@property
+	def shoulder(self) -> typing.List[float]:
+		return self._instance.Shoulder
+	@shoulder.setter
+	def shoulder(self, value: typing.List[float]):
+		self._instance.Shoulder = value
+	@property
+	def elbow(self) -> typing.List[float]:
+		return self._instance.Elbow
+	@elbow.setter
+	def elbow(self, value: typing.List[float]):
+		self._instance.Elbow = value
+	@property
+	def wrist1(self) -> typing.List[float]:
+		return self._instance.Wrist1
+	@wrist1.setter
+	def wrist1(self, value: typing.List[float]):
+		self._instance.Wrist1 = value
+	@property
+	def wrist2(self) -> typing.List[float]:
+		return self._instance.Wrist2
+	@wrist2.setter
+	def wrist2(self, value: typing.List[float]):
+		self._instance.Wrist2 = value
+	@property
+	def wrist3(self) -> typing.List[float]:
+		return self._instance.Wrist3
+	@wrist3.setter
+	def wrist3(self, value: typing.List[float]):
+		self._instance.Wrist3 = value

underautomation/universal_robots/kinematics/transformation_set.py

@@ -0,0 +1,30 @@
+import typing
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.UniversalRobots.dll')))
+from UnderAutomation.UniversalRobots.Kinematics import Ur10DhParameters as ur10_dh_parameters
+
+class Ur10DhParameters:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = ur10_dh_parameters()
+		else:
+			self._instance = _internal
+	@property
+	def a2(self) -> float:
+		return self._instance.A2
+	@property
+	def a3(self) -> float:
+		return self._instance.A3
+	@property
+	def d1(self) -> float:
+		return self._instance.D1
+	@property
+	def d4(self) -> float:
+		return self._instance.D4
+	@property
+	def d5(self) -> float:
+		return self._instance.D5
+	@property
+	def d6(self) -> float:
+		return self._instance.D6

underautomation/universal_robots/kinematics/ur10_dh_parameters.py

@@ -0,0 +1,30 @@
+import typing
+import clr
+import os
+clr.AddReference(os.path.realpath(os.path.join(os.path.dirname(__file__), "..",  'lib', 'UnderAutomation.UniversalRobots.dll')))
+from UnderAutomation.UniversalRobots.Kinematics import Ur10eDhParameters as ur10e_dh_parameters
+
+class Ur10eDhParameters:
+	def __init__(self, _internal = 0):
+		if(_internal == 0):
+			self._instance = ur10e_dh_parameters()
+		else:
+			self._instance = _internal
+	@property
+	def a2(self) -> float:
+		return self._instance.A2
+	@property
+	def a3(self) -> float:
+		return self._instance.A3
+	@property
+	def d1(self) -> float:
+		return self._instance.D1
+	@property
+	def d4(self) -> float:
+		return self._instance.D4
+	@property
+	def d5(self) -> float:
+		return self._instance.D5
+	@property
+	def d6(self) -> float:
+		return self._instance.D6