ctu_mitsubishi.rv6s
===================

.. py:module:: ctu_mitsubishi.rv6s


Classes
-------

.. autoapisummary::

   ctu_mitsubishi.rv6s.Rv6s


Module Contents
---------------

.. py:class:: Rv6s(port='/dev/ttyUSB_Robot', baudrate=38400, debug=False)

   .. py:attribute:: _debug
      :value: False



   .. py:attribute:: _connection


   .. py:attribute:: _initialized
      :value: False



   .. py:attribute:: q_home


   .. py:attribute:: q_min


   .. py:attribute:: q_max


   .. py:attribute:: dh_theta_off


   .. py:attribute:: dh_a


   .. py:attribute:: dh_d


   .. py:attribute:: dh_alpha


   .. py:attribute:: _last_q
      :value: None



   .. py:attribute:: _camera
      :type:  ctu_mitsubishi.basler_camera.BaslerCamera | None
      :value: None



   .. py:method:: __del__()

      Stop robot and close the connection to the robot's control unit.



   .. py:method:: grab_image(timeout=10000)


   .. py:method:: close_connection()

      Close the connection to the robot's control unit.



   .. py:method:: stop_robot()

      Stop the robot and perform a safe shutdown.



   .. py:method:: _send_and_receive(msg)

      Send a message to the robot and return the response.



   .. py:method:: initialize()

      Performs robot initialization.



   .. py:method:: get_q()

      Get current joint configuration [rad].



   .. py:method:: move_to_q(q)

      Move robot to the given joint configuration [rad] using coordinated movement.
      Initialization has be called before to set up the robot.



   .. py:method:: soft_home()

      Move robot to the home position using move to q function.



   .. py:method:: in_limits(q)

      Return whether the given joint configuration is in joint limits.



   .. py:method:: _rx(angle)
      :staticmethod:


      Return SE3 transformation that rotates around x-axis.



   .. py:method:: _ry(angle)
      :staticmethod:


      Return SE3 transformation that rotates around x-axis.



   .. py:method:: _rz(angle)
      :staticmethod:


      Return SE3 transformation that rotates around z-axis.



   .. py:method:: _t(tx = 0.0, ty = 0.0, tz = 0.0)
      :staticmethod:


      Return SE3 transformation that translates along x-axis.



   .. py:method:: dh_to_se3(d, theta, a, alpha)
      :staticmethod:


      Compute SE3 matrix from DH parameters.



   .. py:method:: fk(q)

      Compute forward kinematics for the given joint configuration [rad].
      Return pose of the end-effector in the base frame. Homogeneous transformation
      matrix (4x4) is returned. The pose represents the flange pose w.r.t. base
      of the robot.



   .. py:method:: _ik_5th_joint_pos(position)

      Compute inverse kinematics for the given position of the 5th joint
      (flange w.r.t. base) in the base frame.
      Return list of joint configurations [rad] for the first three joints.



   .. py:method:: ik(pose)

      Compute inverse kinematics for the given pose of the end-effector (flange
      w.r.t. base) in the base frame. Homogeneous transformation matrix (4x4) is
      expected. Only in limits solutions are returned.
      Return list of joint configurations [rad].



   .. py:method:: rotation_matrix_to_euler_zyz(R)
      :staticmethod:


      Extract Euler angles (ZYZ convention) from a rotation matrix.

      :param R: 3x3 rotation matrix.
      :type R: ndarray

      :returns: Euler angles (alpha, beta, gamma) in radians.
      :rtype: two solutions, 2 tuples



   .. py:method:: wait_for_motion_stop(timeout = 10, poll_interval = 0.1, tol = 0.0087)

      Wait for the robot to stop moving.
      :param timeout: Maximum time to wait for the robot to stop moving.
      :param poll_interval: Time between checking the robot's state.
      :param tol: Tolerance for the robot's joint positions to be considered stopped
                  [rad].

      :returns: True if the robot has stopped moving in a given time, False otherwise.