Add position data helper tools about tp_plus

[kobbled]

Assign position in tp+ body

p  := P[1] 
p.group(1) -> [0, 100, 300, 90, 0, 0]
# or
p  := P[1] 
p.group(1) -> [0, 100, 300, 90, 0, 0, N, D, T, -1, 1, 0]
p.group(2) -> [90,0]

Also having a default position set to either the system variable $MOR_GRP[*].$NILPOS, or set as a keyword in an environment variable file to limit amount of redundant information.

default_pose.group(1) -> [0, 0, 0, 90, 0, -90, F, U, T, 0, 0, 0]
default_pose.group(2) -> [0]

Might need a different designation for joint positions

p1  := JP[1]    # joint position
p1.group(1) -> [0, 90, 180, 270, 360, 0]
p2  := P[2]     # cartesian position
p2.group(1) -> [0, 0, 50, 0, 0, 0]

[kobbled]

csv data could be in the form of

position_data
{
  'csv' : [
   x1, y1, z1, w1, p1, r1, ex11, ex21, ex31, N, D, T, 0 ,0 ,0
   x2, y2, z2, w2, p2, r2, ex12, ex22, ex32, N, D, T, 0 ,0 ,0
   x3, y3, z3, w3, p3, r3, ex13, ex23, ex33, N, D, T, 0 ,0 ,0
  ]
}
end

or to reduce redundancy include a default_pose

position_data
{
  'default_pose' : [x, y, z, w, p, r, ex1, ex2, ex3, N, D, T, 0 ,0 ,0]
  'csv' : [
   x1, y1, z1
   x2, y2, z2
   x3, y3, z3
  ]
}
end

or save previous pose info, and use for next ambiguous pose

position_data
{
  'default_pose' : [x, y, z, w, p, r, ex1, ex2, ex3, N, D, T, 0 ,0 ,0]
  'csv' : [
   x1, y1, z1, w1, p1, r1, ex11, ex21, ex31, N, D, T, 0 ,0 ,0
   x2, y2, z2
   x3, y3, z3
   x4, y4, z4, w2, p2, r2, ex12, ex22, ex32, N, D, T, 0 ,0 ,0
   x5, y5, z5
   x6, y6, z6
  ]
}
end

Don't know how to approach independent groups for csv format without it getting confusing

[kobbled]

potential json position data format:

position_data
{
  'default_pose' : [
     'uframe' : 6,                # global frames so you dont have to specify for each pose
     'utool' : 2,
    'mask' :  [{
        'group' : 1,
       #default config to limit verbosity
        'config' : {
            'flip' : false,
            'up'   : true,
            'top'  : true,
            'turn_counts' : [0,0,0]
            },
        'orient' : {
           'w' : 90.0,
           'p' : 0.0,
           'r' : 0.0
        }},
        {
        'group' : 2,
        'orient' : {
           'w' : 90.0,
           'p' : 0.0,
           'r' : 0.0
          },
        'components' : {
            'J1' : 0,
            'J2' : 90
           }
         }]
     }
   ],
  'positions' : [
    {
      'id' : 1,
      'comment' : 'feed',
      'uframe' : 6,                # pose frames. Should still be able to specify and override frame for each group
      'utool' : 2,
      'mask' :  [{
        'group' : 1,
        'config' : {
            'flip' : false,
            'up'   : true,
            'top'  : true,
            'turn_counts' : [0,0,0]
            },
       #seperate position and orientation. 'components' should still exists and be usable if desired
        'coord' : {
            'x' : -20.0,
            'y' : 0.0,
            'z' : -80.0
           },
       'orient' : {
            'w' : 0.0,
            'p' : 0.0,
            'r' : 0.0
            }
        },
        {
        'group' : 2,
        'components' : {
            'J1' : 90,
            'J2' : 0
           }
        }]
    },
   {
      'id' : 2,
      'comment' : 'start_pose',
      'mask' :  [{
        'group' : 1,
        'coord' : {
            'x' : 100,
            'y' : 0.0,
            'z' : 0
           }
        },
        {
        'group' : 2,
        'components' : {
            'J1' : 90,
            'J2' : 0
           }
        }]
    },
   {
      'id' : 3,
      'mask' :  [{
        'group' : 1,
        'coord' : {
            'x' : 70,
            'y' : 70,
            'z' : 0
           }
        },
        {
        'group' : 2,
        'components' : {
            'J1' : 90,
            'J2' : 45
           }
        }]
    },
   {
      'id' : 3,
      'mask' :  [{
        'group' : 1,
        'coord' : {
            'x' : 0,
            'y' : 100,
            'z' : 0
           }
        },
        {
        'group' : 2,
        'components' : {
            'J1' : 90,
            'J2' : 90
           }
        }]
    }
}
end

[kobbled]

Be able to insert plain LS into the positition_data

position_data {
  'ls_positions' : [

P[1:"strt_HT1"]{
   GP1:
  UF : 5, UT : 3,  CONFIG : 'F U T, 0, 0, 0',
  X = 0.0 mm, Y = 0.0 mm, Z = 0.0 mm,
  W = -90.0 deg, P = 0.0 deg, R = 180.0 deg

};
P[2:"strt_HT2"]{
   GP1:
  UF : 7, UT : 3,  CONFIG : 'F U T, 0, 0, 0',
  X = 0.0 mm, Y = 0.0 mm, Z = 0.0 mm,
  W = -90.0 deg, P = 0.0 deg, R = 180.0 deg

};

  ]
}
end

[kobbled]

load csv data, of ls data from file

position_data {
   'filename' = 'filename.csv'
}
end

ls position data loading will need a parsing/regex tool

position_data {
   'filename' = 'filename.ls'
}
end

[kobbled]

default.config -> [N, D, T, -1, 1, 0]
default.pose -> [0, 0, 0, -90, 0, 90]

p1.coord -> [0, 0, 10]

p2.coord.offset -> [0, 0, 5]
p2.coord.polar -> [th, r, z]

[kobbled]

Some features implemented in 1d2a817. Not all content has been implemented up to 1d2a817, but am closing issue as thread is fairly cluttered.