adeck/python-urx-getl-rt
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change in sample files

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This commit is contained in:
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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33
examples/matrices.py Normal file
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@ -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()

18
examples/simple.py
View File

@ -11,23 +11,15 @@ if __name__ == "__main__":
l = 0.05 l = 0.05
v = 0.05 v = 0.05
a = 0.3 a = 0.3
rob.translate((l, 0, 0))
pose = rob.getl() pose = rob.getl()
print("robot tcp is at: ", pose) print("robot tcp is at: ", pose)
pose[2] += l pose[2] += l
rob.movel(pose, acc=a, vel=v) rob.movel(pose, acc=a, vel=v)
print("relative move in base coordinate ")
rob.translate((0, 0, -z), acc=a, vel=v)
t = rob.get_transform() print("relative move in tool coordinate")
print("Transformation from base to tcp is: ", t) rob.translate_tool((0, 0, -z), acc=a, vel=v)
t.orient.rotate_zb(pi/4) rob.translate_tool((0, 0, z), acc=a, vel=v)
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: finally:
rob.cleanup() rob.cleanup()