t1.start()
# Send trajectory here
# Set base and tool frame
kuka.set_base(np.array([0, 0, 0, 0, 0, 0]))
kuka.set_tool(np.array([0, 0, 0, 0, 0, 0]))
# Read base and tool frame to confirm
kuka.read_base()
kuka.read_tool()
print("Base Frame: ", kuka.base_frame)
print("Tool Frame: ", kuka.tool_frame)
# Set tcp velocity (mm/s)
kuka.set_tool_velocity(0.001)
# Set the advance parameter to 5. Parameters tells the KUKA controller how many
# steps in advance it can process. It is needed for continuous movement
kuka.set_advance(5)
# Set the $APO.CDIS > 0 for continuous movement. It is the parameter telling
# the kuka controller when it is allowed to deviate from given path (mm).
kuka.robot.write("$APO.CDIS", str(100))
kuka.read_APO()
# Read current cartessian position and orientation of end-effector
kuka.read_cartessian()
# Start logging thread
t1 = threading.Thread(target=log_end_effector_cartessian, args=(60, ))
#Connect to robot
robot = openshowvar(ip = '192.168.100.147', port = 7000)
kuka = Kuka(robot)
# Set base and tool frame
kuka.set_base(np.array([0, 0, 0, 0, 0, 0]))
kuka.set_tool(np.array([0, 0, 0, 0, 0, 0]))
# Read base and tool frame to confirm
kuka.read_base()
kuka.read_tool()
print("Base Frame: ", kuka.base_frame)
print("Tool Frame: ", kuka.tool_frame)
# Set tcp velocity (mm/s)
kuka.set_tool_velocity(10)
# Set the advance parameter to 5. Parameters tells the KUKA controller how many
# steps in advance it can process. It is needed for continuous movement
kuka.set_advance(5)
# Set the $APO.CDIS > 0 for continuous movement. It is the parameter telling
# the kuka controller when it is allowed to deviate from given path (mm).
kuka.robot.write("$APO.CDIS", str(100))
kuka.read_APO()
# Read current cartessian position and orientation of end-effector
kuka.read_cartessian()
# Construct trajectory
trajectory_arr = []