add first sample file

examples/test_movep.py

@@ -0,0 +1,23 @@
+import urx
+import logging
+
+if __name__ == "__main__":
+    rob = urx.Robot("192.168.128.120", logLevel=logging.INFO)
+    try:
+        l = 0.05
+        v = 0.05
+        a = 0.3
+        r = 0.005
+        pose = rob.getl()
+        pose[2] += l
+        rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
+        pose[1] += l 
+        rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
+        pose[2] -= l
+        rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
+        pose[1] -= l
+        rob.movep(pose, acc=a, vel=v, radius=0, wait=False)
+
+    finally:
+        rob.cleanup()
+

urx/urx.py

@@ -6,7 +6,7 @@ http://support.universal-robots.com/URRobot/RemoteAccess
 from __future__ import absolute_import # necessary for import tricks to work with python2
 
 __author__ = "Olivier Roulet-Dubonnet"
-__copyright__ = "Copyright 2011-2012, Sintef Raufoss Manufacturing Roulet-Dubonnet"
+__copyright__ = "Copyright 2011-2013, Sintef Raufoss Manufacturing Roulet-Dubonnet"
 __credits__ = ["Olivier Roulet-Dubonnet"]
 __license__ = "GPLv3"
 
@@ -228,7 +228,7 @@ class URRobot(object):
             return self.getj()
 
     def wait_for_move(self):
-        time.sleep(0.2)# it is important to sleep since robot may takes a while to get into running state
+        time.sleep(0.5)# it is important to sleep since robot may takes a while to get into running state, for a physical move 0.5s is very low
         while True:
             if not self.is_running():
                 raise RobotException("Robot stopped")