adeck/python-urx-getl-rt
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make it clear that path blending is currently not available

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Olivier R-D 2013-12-20 14:56:48 +01:00
parent 60181ca9f9
commit 7ec4165fc2
2 changed files with 3 additions and 5 deletions
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1
README
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@ -38,7 +38,6 @@ while True :
break break
robot.movel(x, y, z, rx, ry, rz), wait=False) robot.movel(x, y, z, rx, ry, rz), wait=False)
>>>>>>> 43397b6cea74844db7a98bc58649fda3fce86cba
while.robot.getForce() < 50: while.robot.getForce() < 50:
sleep(0.01) sleep(0.01)
if not robot.is_program_running(): if not robot.is_program_running():

7
urx/robot.py
View File

@ -304,7 +304,7 @@ class URRobot(object):
""" """
Send a movep command to the robot. See URScript documentation. Send a movep command to the robot. See URScript documentation.
From URX the main advantage of movep is that it allows for path blending if From URX the main advantage of movep is that it allows for path blending if
math3d is installed math3d is installed (BROKEN!)
""" """
if relative: if relative:
l = self.getl() l = self.getl()
@ -461,8 +461,7 @@ class Robot(URRobot):
trans.orient = orient trans.orient = orient
self.apply_transform(trans, acc, vel, radius, wait=wait) self.apply_transform(trans, acc, vel, radius, wait=wait)
def set_orientation(self, orient, acc=None, vel=None, wait=True): set_orientation = orient
self.orient(orient, acc, vel, wait=wait)
def translate(self, vect, acc=None, vel=None, radius=0, wait=True): def translate(self, vect, acc=None, vel=None, radius=0, wait=True):
""" """
@ -499,7 +498,7 @@ class Robot(URRobot):
if process is True, movep is used instead of movel if process is True, movep is used instead of movel
if radius is not 0 and wait is True, the method will return when tcp if radius is not 0 and wait is True, the method will return when tcp
is radius close to the target. It is then possible to send another command is radius close to the target. It is then possible to send another command
and the controller will blend the path. Blending only works with process(movep). and the controller will blend the path. Blending only works with process(movep). (BROKEN!)
""" """
if not acc: if not acc:
acc = self.default_linear_acceleration acc = self.default_linear_acceleration