24 lines
581 B
Python
24 lines
581 B
Python
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 = 0.05
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v = 0.05
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a = 0.3
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r = 0.005
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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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pose[1] += l
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rob.movep(pose, acc=a, vel=v, radius=r, wait=False)
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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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pose[1] -= l
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rob.movep(pose, acc=a, vel=v, radius=0, wait=False)
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finally:
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rob.cleanup()
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