from argparse import ArgumentParser
from time import sleep
from frankx import Affine, 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()
robot = Robot(args.host)
robot.set_default_behavior()
while True:
print('Pose: ', robot.current_pose())
print('Elbow: ', robot.read_once().elbow)
sleep(0.05)
import time
import numpy as np
from frankx import Affine, Robot
if __name__ == '__main__':
robot = Robot("172.16.0.2")
robot.set_default_behavior()
while True:
print(robot.current_pose())
print(robot.read_once().elbow)
time.sleep(0.05)
from argparse import ArgumentParser
from frankx import Affine, JointMotion, LinearRelativeMotion, Measure, MotionData, Reaction, Robot, StopMotion
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 = LinearRelativeMotion(Affine(0.0, 0.0, -0.12), -0.2)
motion_down_data = MotionData().with_reaction(Reaction(Measure.ForceZ < -5.0, StopMotion(Affine(0.0, 0.0, 0.002), 0.0)))
# You can try to block the robot now.
robot.move(motion_down, motion_down_data)
if motion_down_data.did_break:
print('Robot stopped at: ', robot.current_pose())
import numpy as np
from frankx import Affine, LinearMotion, Robot
# Connect to the robot
robot = Robot("172.16.0.2")
robot.recover_from_errors()
robot.set_dynamic_rel(0.1)
# Define and move forwards
camera = Affine(-0.0005, 0.079, 0.011, 0.0, 0.0, 0.0)
gripper = Affine(0, 0, -0.18, 0.0, 0.0, 0.0)
home = Affine(0.480, -0.025, 0.21, 0.0)
robot.move(camera, LinearMotion(home, 1.6))
print(robot.current_pose(camera))