From 43397b6cea74844db7a98bc58649fda3fce86cba Mon Sep 17 00:00:00 2001 From: oroulet Date: Fri, 7 Jun 2013 21:21:17 +0200 Subject: [PATCH] Update README --- README | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/README b/README index 6cbe030..0162222 100644 --- a/README +++ b/README @@ -15,13 +15,13 @@ rob.translate((0.1, 0, 0), a, v) #move tool and keep orientation rob.orient((0.1, 0, 0), a, v) #orient tool and keep tool tip position rob.stopj(a) -robot.movel(x,y,z,a,b,c), wait=False) +robot.movel(x, y, z, rx, ry, rz), wait=False) while True : sleep(0.1) #sleep first since the information may be outdated if robot.is_program_running(): break -robot.movel(x,y,z,a,b,c), wait=False) +robot.movel(x, y, z, rx, ry, rz), wait=False) while.robot.getForce() < 50: sleep(0.01) robot.stopl() @@ -37,7 +37,8 @@ robot = Robot("192.168.1.1") robot.set_tcp((0,0,0.23,0,0,0) calib = mathd3d.Transform() calib.orient.rotate_zb(pi/4) #just an example -robot.set_calibration_matrix(calib) #set robot corrdinate system +robot.add_csys("mycsys", calib) #set robot corrdinate system +robot.set_default_csys("mycsys") trans = robot.get_transform() # get current transformation matrix (tool to base) trans.orient.rotate_yt(pi/2)