From f36f904c0f667a615a486b9fd6114bc31aee1d48 Mon Sep 17 00:00:00 2001 From: Olivier R-D Date: Mon, 18 Mar 2013 09:42:30 +0100 Subject: [PATCH] enable freedrive mode --- urx/urx.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/urx/urx.py b/urx/urx.py index d71f203..28a9995 100644 --- a/urx/urx.py +++ b/urx/urx.py @@ -515,6 +515,18 @@ class Robot(object): def get_analog_in(self, nb): return self.robot.getAnalogInput(nb) + def set_freedrive(self, val): + if val: + self.robot.sendProgram("set robotmode freedrive") + else: + self.robot.sendProgram("set robotmode run") + + def set_simulation(self, val): + if val: + self.robot.sendProgram("set sim") + else: + self.robot.sendProgram("set real") + def movej(self, joints, acc=0.1, vel=0.05, wait=True, relative=False): """ wrapper around the movej command in URRobot