adeck/python-urx-getl-rt
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oroulet
2013-06-07 21:21:17 +02:00
parent 83e2b7e164
commit 43397b6cea
1 changed files with 4 additions and 3 deletions
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7
README
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@@ -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.orient((0.1, 0, 0), a, v) #orient tool and keep tool tip position
rob.stopj(a) 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 : while True :
sleep(0.1) #sleep first since the information may be outdated sleep(0.1) #sleep first since the information may be outdated
if robot.is_program_running(): if robot.is_program_running():
break 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: while.robot.getForce() < 50:
sleep(0.01) sleep(0.01)
robot.stopl() robot.stopl()
@@ -37,7 +37,8 @@ robot = Robot("192.168.1.1")
robot.set_tcp((0,0,0.23,0,0,0) robot.set_tcp((0,0,0.23,0,0,0)
calib = mathd3d.Transform() calib = mathd3d.Transform()
calib.orient.rotate_zb(pi/4) #just an example 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 = robot.get_transform() # get current transformation matrix (tool to base)
trans.orient.rotate_yt(pi/2) trans.orient.rotate_yt(pi/2)