def apostrophe(pose, sleep): #establish connection between robot and computer from Connection import HOST, PORT, socket, time, re s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s.connect((HOST, PORT)) #move robot to posestart posestart = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", posestart) y = str(float(y) - 0.100) p = posestart.split(' ') p[1] = y + ',' posestart = ' '.join(p) s.send(bytes(posestart, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(sleep) #move robot to writing start position s.send(bytes(pose, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3.5) #moves robot to pose1 pose1 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose1) x = str(float(x) - 0.005) z = str(float(z) - 0.009) p = pose1.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose1 = ' '.join(p) s.send(bytes(pose1, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #return to poseend poseend = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", poseend) x = str(float(x) + 0.034) y = str(float(y) - 0.100) p = poseend.split(' ') p[0] = 'movel(p[' + x + ',' p[1] = y + ',' poseend = ' '.join(p) s.send(bytes(poseend, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #halt s.send(bytes("halt", 'utf8') + bytes("\n", 'utf8'))
def G(pose,sleep): #establish connection between robot and computer from Connection import HOST, PORT, socket, time, re s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s.connect((HOST,PORT)) #move robot to posestart posestart = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", posestart) y = str(float(y) - 0.100) p = posestart.split(' ') p[1] = y + ',' posestart = ' '.join(p) s.send (bytes(posestart, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(sleep) #move robot to writing start position x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose) x = str(float(x) + 0.017) p = pose.split(' ') p[0] = 'movel(p[' + x + ',' pose = ' '.join(p) s.send (bytes(pose, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(4) #converted movel format to movec posea, poseb = pose.split(']') posemid = '], ' + pose[6:] posenew = posea + posemid posenew = list(posenew) posenew[4] = 'c' posenew = ''.join(posenew) #move to new pose x,y,z,rx,ry,rz,x1,y1,z1,rx1,ry1,rz1,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", posenew) x = str(float(x) - 0.045) z = str(float(z) - 0.03) x1 = str(float(x1) - 0.00) z1 = str(float(z1) - 0.06) p = posenew.split(' ') p[0] = 'movec(p[' + x + ',' p[2] = z + ',' p[6] = ' p[' + x1 + ',' p[8] = z1 + ',' posenew = ' '.join(p) s.send (bytes(posenew, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(4) #moves robot to pose1 pose1 = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose1) z = str(float(z) - 0.030) p = pose1.split(' ') p[2] = z + ',' pose1 = ' '.join(p) s.send (bytes(pose1, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2) #moves robot to pose2 pose2 = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose2) x = str(float(x) - 0.020) z = str(float(z) - 0.030) p = pose2.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose2 = ' '.join(p) s.send (bytes(pose2, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(1.5) #return to poseend poseend = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", poseend) x = str(float(x) + 0.034) y = str(float(y) - 0.100) p = poseend.split(' ') p[0] = 'movel(p[' + x + ',' p[1] = y + ',' poseend = ' '.join(p) s.send (bytes(poseend, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #halt s.send(bytes("halt",'utf8') + bytes("\n", 'utf8'))
def P(pose, sleep): #establish connection between robot and computer from Connection import HOST, PORT, socket, time, re s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s.connect((HOST, PORT)) #move robot to posestart posestart = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", posestart) y = str(float(y) - 0.100) p = posestart.split(' ') p[1] = y + ',' posestart = ' '.join(p) s.send(bytes(posestart, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(sleep) #moves robot to pose1 pose1 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose1) x = str(float(x) - 0.013) z = str(float(z)) p = pose1.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose1 = ' '.join(p) s.send(bytes(pose1, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.0929-0.013, 0.658, 0.79831, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(5) #moves robot to pose2 pose2 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose2) x = str(float(x) - 0.013) z = str(float(z) - 0.060) p = pose2.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose2 = ' '.join(p) s.send(bytes(pose2, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292-0.013, 0.658, 0.79831-0.06, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2.5) #moves robot to pose3 pose3 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose3) y = str(float(y) - 0.038) z = str(float(z) - 0.030) p = pose3.split(' ') p[1] = y + ',' p[2] = z + ',' pose3 = ' '.join(p) s.send(bytes(pose3, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292, 0.62, 0.79831-0.03, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(1.5) #moves robot to pose4 pose4 = pose1 s.send(bytes(pose4, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292-0.013, 0.658, 0.79831, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(1.5) #moves robot to pose5 pose5 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose5) x = str(float(x) + 0.010) p = pose5.split(' ') p[0] = 'movel(p[' + x + ',' pose5 = ' '.join(p) s.send(bytes(pose5, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292-0.003, 0.658, 0.79831, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(1) #converted movel format to movec posea, poseb = pose.split(']') posemid = '], ' + pose[6:] posenew = posea + posemid posenew = list(posenew) posenew[4] = 'c' posenew = ''.join(posenew) #move robot to posenew x, y, z, rx, ry, rz, x1, y1, z1, rx1, ry1, rz1, a, v = re.findall( r"[-+]?\d*\.\d+|\d+", posenew) x = str(float(x) + 0.022) z = str(float(z) - 0.014) x1 = str(float(x1) + 0.010) z1 = str(float(z1) - 0.028) p = posenew.split(' ') p[0] = 'movec(p[' + x + ',' p[2] = z + ',' p[6] = ' p[' + x1 + ',' p[8] = z1 + ',' posenew = ' '.join(p) s.send(bytes(posenew, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movec(p[-0.09292+0.011, 0.658, 0.79831-0.015, 3.9322, 1.6518, 1.6554], p[-0.09292-0.003, 0.658, 0.79831-0.027, 3.9322, 1.6518, 1.6554], a=0.25, v=0.15)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(5) #moves robot to pose6 pose6 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose6) x = str(float(x) - 0.013) z = str(float(z) - 0.028) p = pose6.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose6 = ' '.join(p) s.send(bytes(pose6, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292-0.013, 0.658, 0.79831-0.03, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(1.5) #return to poseend poseend = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", poseend) x = str(float(x) + 0.034) y = str(float(y) - 0.100) p = poseend.split(' ') p[0] = 'movel(p[' + x + ',' p[1] = y + ',' poseend = ' '.join(p) s.send(bytes(poseend, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #halt s.send(bytes("halt", 'utf8') + bytes("\n", 'utf8'))
def Five(pose,sleep): #establish connection between robot and computer from Connection import HOST, PORT, socket, time, re s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s.connect((HOST,PORT)) #move robot to posestart posestart = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", posestart) y = str(float(y) - 0.100) p = posestart.split(' ') p[1] = y + ',' posestart = ' '.join(p) s.send (bytes(posestart, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(sleep) #move robot to writing start position x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose) x = str(float(x) + 0.017) p = pose.split(' ') p[0] = 'movel(p[' + x + ',' pose = ' '.join(p) s.send (bytes(pose, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(5) #moves robot to pose2 pose2 = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose2) x = str(float(x) - 0.034) p = pose2.split(' ') p[0] = 'movel(p[' + x + ',' pose2 = ' '.join(p) s.send (bytes(pose2, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #moves robot to pose3 pose3 = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose3) x = str(float(x) - 0.034) z = str(float(z) - 0.030) p = pose3.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose3 = ' '.join(p) s.send (bytes(pose3, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2) #moves robot to pose4 pose4 = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose4) x = str(float(x)- 0.012) z = str(float(z) - 0.030) p = pose4.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose4 = ' '.join(p) s.send (bytes(pose4, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(1) #converted movel format to movec posea, poseb = pose.split(']') posemid = '], ' + pose[6:] posenew1 = posea + posemid posenew1 = list(posenew1) posenew1[4] = 'c' posenew1 = ''.join(posenew1) #move robot to posenew1 x,y,z,rx,ry,rz,x1,y1,z1,rx1,ry1,rz1,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", posenew1) x = str(float(x) + 0.000) z = str(float(z) - 0.045) x1 = str(float(x1) - 0.012) z1 = str(float(z1) - 0.060) p = posenew1.split(' ') p[0] = 'movec(p[' + x + ',' p[2] = z + ',' p[6] = ' p[' + x1 + ',' p[8] = z1 + ',' posenew1 = ' '.join(p) s.send (bytes(posenew1, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movec(p[-0.09292+0.012, 0.658, 0.79831-0.045, 3.9322, 1.6518, 1.6554], p[-0.09292-0.001, 0.658, 0.79831-0.06, 3.9322, 1.6518, 1.6554], a=0.25, v=0.15)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(4) #moves robot to pose8 pose8 = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose8) x = str(float(x) - 0.034) z = str(float(z) - 0.060) p = pose8.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose8 = ' '.join(p) s.send (bytes(pose8, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292-0.013, 0.658, 0.79831-0.06, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2) #return to poseend poseend = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", poseend) x = str(float(x) + 0.034) y = str(float(y) - 0.100) p = poseend.split(' ') p[0] = 'movel(p[' + x + ',' p[1] = y + ',' poseend = ' '.join(p) s.send (bytes(poseend, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #halt s.send(bytes("halt",'utf8') + bytes("\n", 'utf8'))
def M(pose, sleep): #establish connection between robot and computer from Connection import HOST, PORT, socket, time, re s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s.connect((HOST, PORT)) #move robot to posestart posestart = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", posestart) y = str(float(y) - 0.100) p = posestart.split(' ') p[1] = y + ',' posestart = ' '.join(p) s.send(bytes(posestart, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(sleep) #move robot to writing start position x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose) x = str(float(x) - 0.018) p = pose.split(' ') p[0] = 'movel(p[' + x + ',' pose = ' '.join(p) s.send(bytes(pose, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(4) #moves robot to pose1 pose1 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose1) z = str(float(z) - 0.060) p = pose1.split(' ') p[2] = z + ',' pose1 = ' '.join(p) s.send(bytes(pose1, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2.5) #moves robot to pose2 pose2 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose2) y = str(float(y) - 0.038) z = str(float(z) - 0.030) p = pose2.split(' ') p[1] = y + ',' p[2] = z + ',' pose2 = ' '.join(p) s.send(bytes(pose2, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(1.5) #moves robot to pose3 pose3 = pose s.send(bytes(pose3, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(1.5) #moves robot to pose4 pose4 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose4) x = str(float(x) + 0.018) z = str(float(z) - 0.030) p = pose4.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose4 = ' '.join(p) s.send(bytes(pose4, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2) #moves robot to pose5 pose5 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose5) x = str(float(x) + 0.036) p = pose5.split(' ') p[0] = 'movel(p[' + x + ',' pose5 = ' '.join(p) s.send(bytes(pose5, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2) #moves robot to pose6 pose6 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose6) x = str(float(x) + 0.036) z = str(float(z) - 0.060) p = pose6.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose6 = ' '.join(p) s.send(bytes(pose6, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2) #return to poseend poseend = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", poseend) x = str(float(x) + 0.034) y = str(float(y) - 0.100) p = poseend.split(' ') p[0] = 'movel(p[' + x + ',' p[1] = y + ',' poseend = ' '.join(p) s.send(bytes(poseend, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #halt s.send(bytes("halt", 'utf8') + bytes("\n", 'utf8'))
def A(pose, sleep): #establish connection between robot and computer from Connection import HOST, PORT, socket, time, re s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s.connect((HOST, PORT)) #move robot to posestart posestart = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", posestart) y = str(float(y) - 0.100) p = posestart.split(' ') p[1] = y + ',' posestart = ' '.join(p) s.send(bytes(posestart, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(sleep) #move robot to writing start position s.send(bytes(pose, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(5) #moves robot to pose1 pose1 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose1) x = str(float(x) - 0.025) z = str(float(z) - 0.060) p = pose1.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose1 = ' '.join(p) s.send(bytes(pose1, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292-0.025, 0.658, 0.79831-0.060, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #moves robot to pose2 pose2 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose2) x = str(float(x) - 0.0125) y = str(float(y) - 0.038) z = str(float(z) - 0.030) p = pose2.split(' ') p[0] = 'movel(p[' + x + ',' p[1] = y + ',' p[2] = z + ',' pose2 = ' '.join(p) s.send(bytes(pose2, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292-0.0125, 0.62, 0.79831-0.030, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2) #moves robot to pose3 pose3 = pose s.send(bytes(pose3, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292, 0.658, 0.79831, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #moves robot to pose4 pose4 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose4) x = str(float(x) + 0.025) z = str(float(z) - 0.060) p = pose4.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose4 = ' '.join(p) s.send(bytes(pose4, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292 + 0.025, 0.658, 0.79831-0.060, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #moves robot to pose5 pose5 = pose2 s.send(bytes(pose5, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292-0.0125, 0.62, 0.79831-0.030, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2) #moves robot to pose6 pose6 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose6) x = str(float(x) - 0.0125) z = str(float(z) - 0.030) p = pose6.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose6 = ' '.join(p) s.send(bytes(pose6, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292-0.0125, 0.659, 0.79831-0.030, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2) #moves robot to pose7 pose7 = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", pose7) x = str(float(x) + 0.0125) z = str(float(z) - 0.030) p = pose7.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose7 = ' '.join(p) s.send(bytes(pose7, 'utf8') + (bytes('\n', 'utf8'))) #s.send (bytes('movel(p[-0.09292+0.0125, 0.658, 0.79831-0.030, 3.9322, 1.6518, 1.6554], a=0.5, v=0.5)', 'utf8') + (bytes('\n', 'utf8'))) time.sleep(2) #return to poseend poseend = pose x, y, z, rx, ry, rz, a, v = re.findall(r"[-+]?\d*\.\d+|\d+", poseend) x = str(float(x) + 0.034) y = str(float(y) - 0.100) p = poseend.split(' ') p[0] = 'movel(p[' + x + ',' p[1] = y + ',' poseend = ' '.join(p) s.send(bytes(poseend, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #halt s.send(bytes("halt", 'utf8') + bytes("\n", 'utf8'))
def Six(pose,sleep): #establish connection between robot and computer from Connection import HOST, PORT, socket, time, re s = socket.socket(socket.AF_INET, socket.SOCK_STREAM) s.connect((HOST,PORT)) #move robot to posestart posestart = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", posestart) y = str(float(y) - 0.100) p = posestart.split(' ') p[1] = y + ',' posestart = ' '.join(p) s.send (bytes(posestart, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(sleep) #move robot to writing start position x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose) x = str(float(x) + 0.017) p = pose.split(' ') p[0] = 'movel(p[' + x + ',' pose = ' '.join(p) s.send (bytes(pose, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(5) #moves robot to pose1 pose1 = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose1) x = str(float(x) - 0.010) p = pose1.split(' ') p[0] = 'movel(p[' + x + ',' pose1 = ' '.join(p) s.send (bytes(pose1, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #converted movel format to movec posea, poseb = pose.split(']') posemid = '], ' + pose[6:] posenew = posea + posemid posenew = list(posenew) posenew[4] = 'c' posenew = ''.join(posenew) #extracted integers from command string x,y,z,rx,ry,rz,x1,y1,z1,rx1,ry1,rz1,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", posenew) #changed pose coordinates x = str(float(x) - 0.034) z = str(float(z) - 0.030) x1 = str(float(x1) - 0.010) z1 = str(float(z1) - 0.060) #split up command string to insert changed cooordinates p = posenew.split(' ') p[0] = 'movec(p[' + x + ',' p[2] = z + ',' p[6] = ' p[' + x1 + ',' p[8] = z1 + ',' #put string back together posenew = ' '.join(p) #move robot to second position s.send (bytes(posenew, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(5) #moves robot to pose1b pose1b = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose1b) x = str(float(x) - 0.009) z = str(float(z) - 0.060) p = pose1b.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose1b = ' '.join(p) s.send (bytes(pose1b, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(1) #converted movel format to movec posea, poseb = pose.split(']') posemid = '], ' + pose[6:] posenew1 = posea + posemid posenew1 = list(posenew1) posenew1[4] = 'c' posenew1 = ''.join(posenew1) #move robot to posenew1 x,y,z,rx,ry,rz,x1,y1,z1,rx1,ry1,rz1,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", posenew1) x = str(float(x) + 0.003) z = str(float(z) - 0.045) x1 = str(float(x1) - 0.009) z1 = str(float(z1) - 0.030) p = posenew1.split(' ') p[0] = 'movec(p[' + x + ',' p[2] = z + ',' p[6] = ' p[' + x1 + ',' p[8] = z1 + ',' posenew1 = ' '.join(p) s.send (bytes(posenew1, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #moves robot to pose1c pose1c = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", pose1c) x = str(float(x) - 0.012) z = str(float(z) - 0.030) p = pose1c.split(' ') p[0] = 'movel(p[' + x + ',' p[2] = z + ',' pose1c = ' '.join(p) s.send (bytes(pose1c, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #converted movel format to movec posea, poseb = pose.split(']') posemid = '], ' + pose[6:] posenew2 = posea + posemid posenew2 = list(posenew2) posenew2[4] = 'c' posenew2 = ''.join(posenew2) #move robot to posenew2 x,y,z,rx,ry,rz,x1,y1,z1,rx1,ry1,rz1,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", posenew2) x = str(float(x) - 0.024) z = str(float(z) - 0.045) x1 = str(float(x1) - 0.012) z1 = str(float(z1) - 0.060) p = posenew2.split(' ') p[0] = 'movec(p[' + x + ',' p[2] = z + ',' p[6] = ' p[' + x1 + ',' p[8] = z1 + ',' posenew2 = ' '.join(p) s.send (bytes(posenew2, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #return to poseend poseend = pose x,y,z,rx,ry,rz,a,v = re.findall(r"[-+]?\d*\.\d+|\d+", poseend) x = str(float(x) + 0.034) y = str(float(y) - 0.100) p = poseend.split(' ') p[0] = 'movel(p[' + x + ',' p[1] = y + ',' poseend = ' '.join(p) s.send (bytes(poseend, 'utf8') + (bytes('\n', 'utf8'))) time.sleep(3) #halt s.send(bytes("halt",'utf8') + bytes("\n", 'utf8'))