def movexs(self,
command,
pose_list,
acc=0.01,
vel=0.01,
radius=0.01,
wait=True,
threshold=None):
"""
Concatenate several movex commands and applies a blending radius
pose_list is a list of pose.
This method is usefull since any new command from python
to robot make the robot stop
"""
new_poses = []
for pose in pose_list:
t = self.csys * m3d.Transform(pose)
pose = t.pose_vector
new_poses.append(pose)
return URRobot.movexs(self,
command,
new_poses,
acc,
vel,
radius,
wait=wait,
threshold=threshold)
def movexs(self, command, pose_list, acc=0.01, vel=0.01, radius=0.01, wait=True, threshold=None):
"""
Concatenate several movex commands and applies a blending radius
pose_list is a list of pose.
This method is usefull since any new command from python
to robot make the robot stop
"""
new_poses = []
for pose in pose_list:
t = self.csys * m3d.Transform(pose)
pose = t.pose_vector
new_poses.append(pose)
return URRobot.movexs(self, command, new_poses, acc, vel, radius, wait=wait, threshold=threshold)
