41 lines
943 B
Python
41 lines
943 B
Python
import time
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import urx
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import logging
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if __name__ == "__main__":
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rob = urx.Robot("192.168.128.120", logLevel=logging.INFO)
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try:
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l = 0.1
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v = 0.07
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a = 0.1
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r = 0.05
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pose = rob.getl()
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pose[2] += l
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rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
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while True:
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p = rob.getl(wait=True)
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if p[2] > pose[2] - 0.05:
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break
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pose[1] += l
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rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
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while True:
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p = rob.getl(wait=True)
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if p[1] > pose[1] - 0.05:
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break
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pose[2] -= l
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rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
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while True:
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p = rob.getl(wait=True)
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if p[2] < pose[2] + 0.05:
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break
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pose[1] -= l
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rob.movep(pose, acc=a, vel=v, radius=0, wait=True)
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finally:
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rob.cleanup()
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