def move_calib():
from share.tools.classes.f21pa10Class import fpa10Class
from tools.classes.realsenseClass import realsenseClass
camera = realsenseClass()
arm = fpa10Class("_l")
arm.Th2tool = Th2tool_handCamCalib
arm.otc_setToolOffset(
[arm.Th2tool.vec[0], arm.Th2tool.vec[1], arm.Th2tool.vec[2]])
arm.mode_joint()
arm.move_joint(arm.j_ready)
arm.mode_rmrc()
time.sleep(1)
plistData = []
for i in range(len(Pos_B)):
# raw_input("press Enter to move next point >>")
arm.move_rmrc(Pos_B[i])
title = TITLE + str(i) + EXTENSION
# time.sleep(1)
# camera.update_image(camera.IR)
time.sleep(3)
camera.save_irImage(PATH_IMAGE_DATA + title)
plistData.append(arm.t_xyzabc_now)
raw_input("finished. press Enter to back to ready position")
arm.mode_joint()
arm.move_joint(arm.j_ready)
data = {"plistData": plistData}
json_write(data, PATH_IMAGE_DATA + "plistData.json")
from share.data.handCamCalib.Th2c_ir import *
from share.tools.classes.parallelGripperClass import parallelGripperClass
#import local path ===================
sys.path.append(os.path.join(".."))
import set_env
baseDir = shareDir.WorkspaceDir + set_env.MyName
sys.path.append(baseDir)
from tools.classes.realsenseClass import realsenseClass
################initial###########################################
print "initial pa10"
arm = fpa10Class("_l")
print "initial RealSense"
realsense = realsenseClass()
print "initial Over"
base_xyzabc = [0.65, 0, 0.20, 0, 0, 0]
#base_xyzabc =[0.50, 0.0, 0.55, 0, 0, 0]
# change mode joint and move ready pose
print "mode joint"
arm.mode_joint()
print "move ready"
arm.move_ready()
# wait 1 sencond
time.sleep(1)
arm.mode_rmrc()
BasePoint = base_xyzabc[:]
arm.move_rmrc(BasePoint)