adeck/python-urx-getl-rt
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

port more examples to api changes

Browse Source
This commit is contained in:
Olivier R-D 2015-05-24 09:04:02 +02:00
parent 0b84a3a5ed
commit 0c3608848d
2 changed files with 6 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

7
examples/matrices.py
View File

@ -4,7 +4,8 @@ import urx
import logging import logging
if __name__ == "__main__": if __name__ == "__main__":
rob = urx.Robot("192.168.1.6") #rob = urx.Robot("192.168.1.6")
rob = urx.Robot("localhost")
rob.set_tcp((0,0,0,0,0,0)) rob.set_tcp((0,0,0,0,0,0))
rob.set_payload(0.5, (0,0,0)) rob.set_payload(0.5, (0,0,0))
try: try:
@ -13,7 +14,7 @@ if __name__ == "__main__":
a = 0.3 a = 0.3
j = rob.getj() j = rob.getj()
print("Initial joint configuration is ", j) print("Initial joint configuration is ", j)
t = rob.get_transform() t = rob.get_pose()
print("Transformation from base to tcp is: ", t) print("Transformation from base to tcp is: ", t)
print("Translating in x") print("Translating in x")
rob.translate((l, 0, 0), acc=a, vel=v) rob.translate((l, 0, 0), acc=a, vel=v)
@ -27,7 +28,7 @@ if __name__ == "__main__":
print("Translate in -x and rotate") print("Translate in -x and rotate")
t.orient.rotate_zb(pi/4) t.orient.rotate_zb(pi/4)
t.pos[0] -= l t.pos[0] -= l
rob.apply_transform(t, vel=v, acc=a) rob.set_pose(t, vel=v, acc=a)
print("Sending robot back to original position") print("Sending robot back to original position")
rob.movej(j, acc=0.8, vel=0.2) rob.movej(j, acc=0.8, vel=0.2)

3
examples/simple.py
View File

@ -5,7 +5,8 @@ import logging
if __name__ == "__main__": if __name__ == "__main__":
logging.basicConfig(level=logging.WARN) logging.basicConfig(level=logging.WARN)
rob = urx.Robot("192.168.1.6") #rob = urx.Robot("192.168.1.6")
rob = urx.Robot("localhost")
rob.set_tcp((0,0,0,0,0,0)) rob.set_tcp((0,0,0,0,0,0))
rob.set_payload(0.5, (0,0,0)) rob.set_payload(0.5, (0,0,0))
try: try: