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tested examples scripts

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This commit is contained in:
Olivier R-D
2013-09-18 10:48:58 +02:00
parent c056a6c7a5
commit a566b2ae69
3 changed files with 18 additions and 14 deletions
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12
examples/simple.py
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@@ -1,10 +1,9 @@
from math import pi
import urx
import logging
if __name__ == "__main__":
rob = urx.Robot("192.168.128.120", logLevel=logging.INFO)
rob = urx.Robot("192.168.1.6", logLevel=logging.INFO)
rob.set_tcp((0,0,0,0,0,0))
rob.set_payload(0.5, (0,0,0))
try:
@@ -13,13 +12,14 @@ if __name__ == "__main__":
a = 0.3
pose = rob.getl()
print("robot tcp is at: ", pose)
print("absolute move in base coordinate ")
pose[2] += l
rob.movel(pose, acc=a, vel=v)
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)
rob.translate((0, 0, -l), acc=a, vel=v)
print("relative move back and forth in tool coordinate")
rob.translate_tool((0, 0, -l), acc=a, vel=v)
rob.translate_tool((0, 0, l), acc=a, vel=v)
finally:
rob.cleanup()