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small doc changes and intern renaming

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Olivier R-D
2013-04-21 10:00:54 +02:00
parent 1a0b33490f
commit d56b2a120c
2 changed files with 14 additions and 12 deletions
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11
README
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@ -8,7 +8,7 @@ import urx
rob = urx.robot("192.168.0.100")
rob.set_tcp((x=01, z=0.232))
rob.movej((1,2,3,4,5,6), a, v) # move in robot internal coordinate system
rob.movel((x,y,z,a,b,c), a, v)
rob.movel((x,y,z,rx,ry,rz), a, v)
print "Current tool pose is: ", rob.getl()
rob.movel((0.1, 0, 0, 0, 0, 0), a, v, relative=true)# move relative to current pose
rob.translate((0.1, 0, 0), a, v) #move tool and keep orientation
@ -17,13 +17,10 @@ rob.stopj(a)
robot.movel(x,y,z,rx,ry,rz), wait=False)
sleep(0.1) #sleep first since the information may be outdated
while True :
if robot.is_program_running():
break
robot.movel(x,y,z,a,b,c), wait=False)
while.robot.getForce() < 50:
sleep(0.01)
if not robot.is_program_running():
break
robot.stopl()
try:
@ -37,7 +34,7 @@ robot = Robot("192.168.1.1")
robot.set_tcp((0,0,0.23,0,0,0)
calib = mathd3d.Transform()
calib.orient.rotate_zb(pi/4) #just an example
robot.set_calibration_matrix(calib) #set robot corrdinate system
robot.set_csys("mycalib", calib) #add new corrdinate system and set it as default
trans = robot.get_transform() # get current transformation matrix (tool to base)
trans.orient.rotate_yt(pi/2)