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'))
