adeck/python-urx-getl-rt
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add test_all script, small cleanup

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Olivier R-D
2013-09-20 12:30:40 +02:00
parent dc01f2a4cb
commit 09e446ec70
3 changed files with 64 additions and 3 deletions
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2
urx/__init__.py
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@ -5,5 +5,5 @@ __version__ = "0.8"
from .urrobot import Robot, RobotException, URRobot
from .robot import Robot, RobotException, URRobot

3
urx/urrobot.py → urx/robot.py
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@ -550,7 +550,6 @@ class Robot(URRobot):
pose = self.get_transform()
v = self.csys.orient * pose.orient * m3d.Vector(velocities[:3])
w = self.csys.orient * pose.orient * m3d.Vector(velocities[3:])
print(pose, v, w)
URRobot.speedl(self, np.concatenate((v.data, w.data)), acc, min_time)
def movel(self, pose, acc=None, vel=None, wait=True, relative=False, radius=0.01):
@ -578,7 +577,7 @@ class Robot(URRobot):
return current transformation from tcp to current csys
"""
t = self.get_transform(wait)
return t.pose_vector
return t.pose_vector.tolist()
def movels(self, pose_list, acc=0.01, vel=0.01 , radius=0.01, wait=True):
"""