Simulation mode

ur5_control.py

@@ -59,9 +59,11 @@ def powerup_arm(robot):
 
     #
     # wait for power up (this function runs async)
-
-    while not ping(robot.ip):
+    count = 0
+    while not ping(robot.ip) and count == 10:
         time.sleep(0.5)
+        count += 1
+
     # trigger auto-initialize
     fprint("Arm online. Waiting for calibration.")
     # wait for auto-initialize
@@ -72,16 +74,19 @@ def connect(robot):
         ip = robot.ip
         fprint("Connecting to arm at " + ip)
         trying = True
-        while trying:
+        count = 0
+        while trying and count < 10:
+            count += 1
             try:
                 robot.robot = urx.Robot(ip)
+                robot.robot.set_tcp((robot.offset_x, robot.offset_y, robot.offset_z, 0, 0, 0))
+                # Set weight
+                robot.robot.set_payload(2, (0, 0, 0.1))
                 trying = False
             except:
-                time.sleep(1)
+                time.sleep(0.5)
         # Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
-        robot.robot.set_tcp((robot.offset_x, robot.offset_y, robot.offset_z, 0, 0, 0))
-        # Set weight
-        robot.robot.set_payload(2, (0, 0, 0.1))
+        
     return robot
 
 def init_arm(robot):