From 93834f24d5bd3e8b06135a95c434941b3fa046b5 Mon Sep 17 00:00:00 2001
From: Olivier R-D <olivier@dummy.com>
Date: Wed, 19 Jun 2013 09:53:21 +0200
Subject: [PATCH] change in sample files
---
examples/matrices.py | 33 +++++++++++++++++++++++++++++++++
examples/simple.py | 18 +++++-------------
2 files changed, 38 insertions(+), 13 deletions(-)
create mode 100644 examples/matrices.py
diff --git a/examples/matrices.py b/examples/matrices.py
new file mode 100644
index 0000000..c47d5e9
--- /dev/null
+++ b/examples/matrices.py
@@ -0,0 +1,33 @@
+from math import pi
+
+import urx
+import logging
+
+if __name__ == "__main__":
+ rob = urx.Robot("192.168.128.120", logLevel=logging.INFO)
+ rob.set_tcp((0,0,0,0,0,0))
+ rob.set_payload(0.5, (0,0,0))
+ try:
+ l = 0.05
+ v = 0.05
+ a = 0.3
+ rob.translate((l, 0, 0))
+ pose = rob.getl()
+ print("robot tcp is at: ", pose)
+ pose[2] += l
+ rob.movel(pose, acc=a, vel=v)
+
+
+ t = rob.get_transform()
+ print("Transformation from base to tcp is: ", t)
+ t.orient.rotate_zb(pi/4)
+ t.pos[0] -= l
+ rob.apply_transform(t, vel=v, acc=a)
+ t.pos[2] -= l
+ new_t = rob.apply_transform(t, vel=v, acc=a)
+ print("Transformation from base to tcp is: ", new_t)
+
+
+ finally:
+ rob.cleanup()
+
diff --git a/examples/simple.py b/examples/simple.py
index c47d5e9..8776e57 100644
--- a/examples/simple.py
+++ b/examples/simple.py
@@ -11,23 +11,15 @@ if __name__ == "__main__":
l = 0.05
v = 0.05
a = 0.3
- rob.translate((l, 0, 0))
pose = rob.getl()
print("robot tcp is at: ", pose)
pose[2] += l
rob.movel(pose, acc=a, vel=v)
-
-
- t = rob.get_transform()
- print("Transformation from base to tcp is: ", t)
- t.orient.rotate_zb(pi/4)
- t.pos[0] -= l
- rob.apply_transform(t, vel=v, acc=a)
- t.pos[2] -= l
- new_t = rob.apply_transform(t, vel=v, acc=a)
- print("Transformation from base to tcp is: ", new_t)
-
-
+ print("relative move in base coordinate ")
+ rob.translate((0, 0, -z), acc=a, vel=v)
+ print("relative move in tool coordinate")
+ rob.translate_tool((0, 0, -z), acc=a, vel=v)
+ rob.translate_tool((0, 0, z), acc=a, vel=v)
finally:
rob.cleanup()