From c8c264ad6a4d1ef54d5a58bc2296ad9ac70da279 Mon Sep 17 00:00:00 2001 From: Cole Deck Date: Thu, 9 May 2024 23:12:57 +0000 Subject: [PATCH] Add call to rtmon.getTCF() in urrobot --- urx/urrobot.py | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/urx/urrobot.py b/urx/urrobot.py index 9124322..efff962 100644 --- a/urx/urrobot.py +++ b/urx/urrobot.py @@ -98,6 +98,13 @@ class URRobot(object): """ return self.rtmon.getTCFForce(wait) + def getl_rt(self, wait=True): + """ + return TCP (position) using RT interface + if wait==True, waits for next packet before returning + """ + return self.rtmon.getTCF(wait) + def get_force(self, wait=True): """ length of force vector returned by get_tcp_force