def move_test(con):
print(f"Running {__file__}::{move_test.__name__}()")
arm_ctrl = ur.BasicController(con)
arm = ur.Arm(arm_ctrl)
ms = 1
ma = 0.5
arm.move(target_position=ur.Joints(0, -math.pi / 2, math.pi / 2,
-math.pi / 2, -math.pi / 2, 0),
max_speed=ms,
max_acc=ma)
assert arm.state.is_goal_reached()
arm.move(target_position=ur.Tool(-0.4, -0.4, 0.2, 0, math.pi, 0),
max_speed=ms,
max_acc=ma)
assert arm.state.is_goal_reached()
arm.move(target_position=ur.Joints(0, -math.pi / 2, math.pi / 2,
-math.pi / 2, -math.pi / 2, 0),
max_speed=ms,
max_acc=ma)
assert arm.state.is_goal_reached()
arm.move(target_position=ur.Tool(-0.2, -0.2, 0.3, 0, math.pi, math.pi / 2),
max_speed=ms,
max_acc=ma)
assert arm.state.is_goal_reached()
arm.move(target_position=ur.Joints(0, -math.pi / 2, math.pi / 2,
-math.pi / 2, -math.pi / 2, 0),
max_speed=ms,
max_acc=ma)
assert arm.state.is_goal_reached()
print("Tool pose:" + str(arm.state.tool_pose()))
print("Joint positions:" + str(arm.state.joint_positions()))
print("Passed.")
def read_test(con):
print(f"Running {__file__}::{read_test.__name__}()")
arm_ctrl = ur.BasicController(con)
cmd = ur.Command()
state = ur.State()
arm_ctrl.execute(cmd, state)
print("Tool pose:" + str(state.tool_pose()))
print("Joint positions:" + str(state.joint_positions()))
print("Passed.")
def move_test(con):
print(f"Running {__file__}::{move_test.__name__}()")
con.connect()
arm_ctrl = ur.BasicController(con)
arm = ur.Arm(arm_ctrl)
arm.move(target_position=ur.Joints(0, -math.pi / 2, math.pi / 2, -math.pi /
2, -math.pi / 2, 0))
assert arm.state.is_goal_reached()
arm.move(target_position=ur.Tool(-0.4, -0.4, 0.2, 0, math.pi, 0))
assert arm.state.is_goal_reached()
arm.move(target_position=ur.Joints(0, -math.pi / 2, math.pi / 2, -math.pi /
2, -math.pi / 2, 0))
assert arm.state.is_goal_reached()
print("Tool pose:" + str(arm.state.tool_pose()))
print("Joint positions:" + str(arm.state.joint_positions()))
con.disconnect()
print("Passed.")
def move_test2(con):
print(f"Running {__file__}::{move_test.__name__}()")
arm_ctrl = ur.BasicController(con)
arm = ur.Arm(arm_ctrl)
arm.move(target_position=ur.Joints(0, -math.pi/2, math.pi/2, -math.pi/2, -math.pi/2, 0))
assert arm.state.is_goal_reached()
home = arm.state.tool_pose() + 0
arm.move(target_position=home)
assert arm.state.is_goal_reached()
ms = 1
ma = 0.5
next = home + [0, 0, 0.1, 0, 0, math.pi/2]
#next = home + [0, 0, 0.25, 0, 0, 0]
arm.move(target_position=next, max_speed=ms, max_acc=ma)
assert arm.state.is_goal_reached()
down = home + [0, 0, -0.1, 0, 1, 0]
arm.move(target_position=down, max_speed=ms, max_acc=ma)
assert arm.state.is_goal_reached()
arm.move(target_position=next, max_speed=ms, max_acc=ma)
assert arm.state.is_goal_reached()
arm.move(target_position=down, max_speed=ms, max_acc=ma)
assert arm.state.is_goal_reached()
arm.move(target_position=home,
max_speed=ms, max_acc=ma)
assert arm.state.is_goal_reached()
print("Tool pose:" + str(arm.state.tool_pose()))
print("Joint positions:" + str(arm.state.joint_positions()))
print("Passed.")
