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change in sample files

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Olivier R-D
2013-06-19 09:53:21 +02:00
parent d497364919
commit 93834f24d5
2 changed files with 38 additions and 13 deletions
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18
examples/simple.py
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@@ -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()