release 0.8.2 preparation

OpenGLControl.py

@@ -251,7 +251,7 @@ def DrawPoint(self, color, size):
         glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, self.color);
         glPointSize(size);
         for i,p in enumerate(self.specialPoints):
-            glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, [0, 0, 1.0]);
+            glMaterialfv(GL_FRONT, GL_AMBIENT_AND_DIFFUSE, [1, 0, 0]);
             glBegin(GL_POINTS);
             glVertex3f(p[0], p[1], p[2])
             glEnd()

STLFile.py

@@ -66,7 +66,7 @@ def draw(self):
     def load_stl(self,filename):
         #read start of file to determine if its a binay stl file or a ascii stl file
 
-        #filename = os.path.join(os.path.dirname(sys.executable), filename)  # https://stackoverflow.com/a/9554023/12210262
+        filename = os.path.join(os.path.dirname(sys.executable), filename)  # https://stackoverflow.com/a/9554023/12210262
         #filename = os.path.join(os.environ['_MEIPASS'], filename)
         fp=open(filename,'rb')
         h=fp.read(80)
@@ -83,7 +83,7 @@ def load_stl(self,filename):
 
     #read text stl match keywords to grab the points to build the model
     def load_text_stl(self,filename):
-        #filename = os.path.join(os.path.dirname(sys.executable), filename)  # https://stackoverflow.com/a/9554023/12210262
+        filename = os.path.join(os.path.dirname(sys.executable), filename)  # https://stackoverflow.com/a/9554023/12210262
         #filename = os.path.join(os.environ['_MEIPASS'], filename)
         fp=open(filename,'r')
 
@@ -111,6 +111,7 @@ def load_text_stl(self,filename):
     #load binary stl file check wikipedia for the binary layout of the file
     #we use the struct library to read in and convert binary data into a format we can use
     def load_binary_stl(self,filename):
+        filename = os.path.join(os.path.dirname(sys.executable), filename)  # https://stackoverflow.com/a/9554023/12210262
         fp=open(filename,'rb')
         h=fp.read(80)
 

Toolpath.py

@@ -52,7 +52,7 @@ def __init__(self, coordinates, tool_length):
 
     # ************************************************** FORWARD KINEMATICS
 
-    def select(self,q_sols, q_d, w=[3, 1.5, 10, 5, 0.5, 0.5]):
+    def select(self,q_sols, q_d, w=[3, 1.5, 5, 5, 0.5, 0.5]):
         """Select the optimal solutions among a set of feasible joint value
            solutions.
         Args:

UR_Playground_0.8.1.py → UR_Playground_0-8-2.py

@@ -24,7 +24,7 @@ class BlockViewer():
 logging.basicConfig(filename= "UR_Playground.log", level=logging.DEBUG,
                     format = "%(asctime)s:%(levelname)s:%(message)s")
 logging.info("___"*45)
-logging.info("UR_PLAYGROUND_0.8.1")
+logging.info("UR_PLAYGROUND_0.8.2")
 
 class URPlayground(QMainWindow):
 
@@ -41,7 +41,7 @@ def __init__(self, *args):
         self.svgblock = svgBlock()
         self.toolpath = None
 
-        self.setWindowTitle("UR_Playground_0.8.1")
+        self.setWindowTitle("UR_Playground_0.8.2")
 
         self.initialise_blocks()
         #self.make_log()
@@ -219,6 +219,8 @@ def openFileNameDialog(self):
     def Run(self):
         #print("run")
         logging.info("running Program")
+        self.update_SVG()
+        self.update_robot()
 
         self.program.connectUR()
         time.sleep(1)