from frankx import Affine, JointMotion, Robot, Waypoint, WaypointMotion
if __name__ == '__main__':
parser = ArgumentParser()
parser.add_argument('--host',
default='172.16.0.2',
help='FCI IP of the robot')
args = parser.parse_args()
# Connect to the robot
robot = Robot(args.host, repeat_on_error=False)
robot.set_default_behavior()
robot.recover_from_errors()
# Reduce the acceleration and velocity dynamic
robot.set_dynamic_rel(0.2)
joint_motion = JointMotion([
-1.811944, 1.179108, 1.757100, -2.14162, -1.143369, 1.633046, -0.432171
])
robot.move(joint_motion)
# Define and move forwards
motion_down = WaypointMotion([
Waypoint(Affine(0.0, 0.0, -0.12), -0.2, Waypoint.Relative),
Waypoint(Affine(0.08, 0.0, 0.0), 0.0, Waypoint.Relative),
Waypoint(Affine(0.0, 0.1, 0.0, 0.0), 0.0, Waypoint.Relative),
])
# You can try to block the robot now.
robot.move(motion_down)
from argparse import ArgumentParser
from frankx import Affine, LinearRelativeMotion, Robot
if __name__ == '__main__':
parser = ArgumentParser()
parser.add_argument('--host',
default='172.16.0.2',
help='FCI IP of the robot')
args = parser.parse_args()
# Connect to the robot
robot = Robot(args.host)
robot.set_default_behavior()
robot.recover_from_errors()
# Reduce the acceleration and velocity dynamic
robot.set_dynamic_rel(0.15)
# Define and move forwards
way = Affine(0.0, 0.2, 0.0)
motion_forward = LinearRelativeMotion(way)
robot.move(motion_forward)
# And move backwards using the inverse motion
motion_backward = LinearRelativeMotion(way.inverse())
robot.move(motion_backward)