adeck/python-urx-getl-rt
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merge dev and master branch

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This commit is contained in:
Olivier R-D 2013-08-07 16:39:48 +02:00
commit e9014ccb92
1 changed files with 13 additions and 6 deletions
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@ -31,8 +31,14 @@ rob.translate((0.1, 0, 0), a, v) #move tool and keep orientation
rob.orient((0.1, 0, 0), a, v) #orient tool and keep tool tip position rob.orient((0.1, 0, 0), a, v) #orient tool and keep tool tip position
rob.stopj(a) rob.stopj(a)
robot.movel(x,y,z,rx,ry,rz), wait=False) robot.movel(x, y, z, rx, ry, rz), wait=False)
sleep(0.1) #sleep first since the information may be outdated while True :
sleep(0.1) #sleep first since the information may be outdated
if robot.is_program_running():
break
robot.movel(x, y, z, rx, ry, rz), wait=False)
>>>>>>> 43397b6cea74844db7a98bc58649fda3fce86cba
while.robot.getForce() < 50: while.robot.getForce() < 50:
sleep(0.01) sleep(0.01)
if not robot.is_program_running(): if not robot.is_program_running():
@ -47,10 +53,11 @@ except RobotError, ex:
Using matrices: Using matrices:
robot = Robot("192.168.1.1") robot = Robot("192.168.1.1")
mycsys = mathd3d.Transform() robot.set_tcp((0,0,0.23,0,0,0)
mycsys.orient.rotate_zb(pi/4) #just an example calib = mathd3d.Transform()
robot.set_csys("default", mycsys) #add new corrdinate system and set it as default calib.orient.rotate_zb(pi/4) #just an example
robot.add_csys("mycsys", calib) #set robot corrdinate system
robot.set_default_csys("mycsys")
trans = robot.get_transform() # get current transformation matrix (tool to base) trans = robot.get_transform() # get current transformation matrix (tool to base)
trans.orient.rotate_yt(pi/2) trans.orient.rotate_yt(pi/2)
robot.apply_transform(trans) robot.apply_transform(trans)