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1002-move_line.py
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1002-move_line.py
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#!/usr/bin/env python3
# Software License Agreement (BSD License)
#
# Copyright (c) 2019, UFACTORY, Inc.
# All rights reserved.
#
# Author: Vinman <[email protected]> <[email protected]>
"""
Description: Move line(linear motion)
"""
import os
import sys
import time
sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
from xarm.wrapper import XArmAPI
#######################################################
"""
Just for test example
"""
if len(sys.argv) >= 2:
ip = sys.argv[1]
else:
try:
from configparser import ConfigParser
parser = ConfigParser()
parser.read('../robot.conf')
ip = parser.get('xArm', 'ip')
except:
ip = input('Please input the xArm ip address:')
if not ip:
print('input error, exit')
sys.exit(1)
########################################################
arm = XArmAPI(ip, is_radian=True)
arm.motion_enable(enable=True)
arm.set_mode(0)
arm.set_state(state=0)
arm.move_gohome(wait=True)
arm.set_position(x=300, y=0, z=150, roll=-180, pitch=0, yaw=0, speed=100, is_radian=False, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.set_position(x=300, y=200, z=250, roll=-180, pitch=0, yaw=0, speed=200, is_radian=False, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.set_position(x=500, y=200, z=150, roll=-180, pitch=0, yaw=0, speed=300, is_radian=False, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.set_position(x=500, y=-200, z=250, roll=-180, pitch=0, yaw=0, speed=400, is_radian=False, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.set_position(x=300, y=-200, z=150, roll=-180, pitch=0, yaw=0, speed=500, is_radian=False, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.set_position(x=300, y=0, z=250, roll=-180, pitch=0, yaw=0, speed=600, is_radian=False, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.move_gohome(wait=True)
arm.set_position(x=300, y=0, z=150, roll=-3.1415926, pitch=0, yaw=0, speed=100, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.set_position(x=300, y=200, z=250, roll=-3.1415926, pitch=0, yaw=0, speed=200, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.set_position(x=500, y=200, z=150, roll=-3.1415926, pitch=0, yaw=0, speed=300, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.set_position(x=500, y=-200, z=250, roll=-3.1415926, pitch=0, yaw=0, speed=400, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.set_position(x=300, y=-200, z=150, roll=-3.1415926, pitch=0, yaw=0, speed=500, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.set_position(x=300, y=0, z=250, roll=-3.1415926, pitch=0, yaw=0, speed=600, wait=True)
print(arm.get_position(), arm.get_position(is_radian=False))
arm.move_gohome(wait=True)
arm.disconnect()