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 = WaypointMotion([
Waypoint(Affine(0.0, 0.0, -0.12), -0.2, Waypoint.Relative),
Waypoint(Affine(0.08, 0.0, 0.0), 0.0, Waypoint.Relative),
Waypoint(Affine(0.0, 0.1, 0.0, 0.0), 0.0, Waypoint.Relative),
])
# You can try to block the robot now.
robot.move(motion_down)
from time import sleep
from frankx import Affine, JointMotion, ImpedanceMotion, Robot
if __name__ == '__main__':
# Connect to the robot
robot = Robot('172.16.0.2')
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
impedance_motion = ImpedanceMotion(200.0, 20.0)
robot_thread = robot.move_async(impedance_motion)
sleep(0.05)
initial_target = impedance_motion.target
print('initial target: ', initial_target)
sleep(0.5)
impedance_motion.target = Affine(y=0.15) * initial_target
print('set new target: ', impedance_motion.target)
from argparse import ArgumentParser
from frankx import Affine, LinearRelativeMotion, 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()
# Connect to the robot
robot = Robot(args.host)
robot.set_default_behavior()
robot.recover_from_errors()
# Reduce the acceleration and velocity dynamic
robot.set_dynamic_rel(0.15)
# Define and move forwards
way = Affine(0.0, 0.2, 0.0)
motion_forward = LinearRelativeMotion(way)
robot.move(motion_forward)
# And move backwards using the inverse motion
motion_backward = LinearRelativeMotion(way.inverse())
robot.move(motion_backward)
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()
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)
linear_motion = LinearRelativeMotion(Affine(z=-0.19), -0.3)
linear_motion_data = MotionData().with_reaction(
Reaction(Measure.ForceZ < -8.0, StopMotion())) # [N]
robot.move(linear_motion, linear_motion_data)
# Define and move forwards
impedance_motion = ImpedanceMotion(800.0, 80.0)
# BE CAREFUL HERE!
# Move forward in y-direction while applying a force in z direction
impedance_motion.add_force_constraint(z=-8.0) # [N]
impedance_motion.set_linear_relative_target_motion(Affine(y=0.1),
2.0) # [m], [s]
robot.move(impedance_motion)
from frankx import Affine, Comparison, JointMotion, LinearRelativeMotion, Measure, MotionData, Reaction, Robot
if __name__ == '__main__':
# Connect to the robot
robot = Robot("172.16.0.2")
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, -0.11), -0.2)
motion_down_data = MotionData().with_reaction(
Reaction(Measure.ForceZ, Comparison.Less, -5.0,
LinearRelativeMotion(Affine(0.0, 0.0, 0.002), 0.0, 2.0)))
# motion_down_data = MotionData().with_reaction(Reaction(Measure.ForceZ < -5.0, LinearRelativeMotion(Affine(0.0, 0.0, 0.002), 0.0, 2.0)))
robot.move(motion_down, motion_down_data)
from argparse import ArgumentParser
from frankx import Affine, JointMotion, LinearMotion, 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()
# Connect to the robot
robot = Robot(args.host)
robot.set_default_behavior()
robot.recover_from_errors()
robot.set_dynamic_rel(0.15)
# Joint motion
robot.move(
JointMotion([
-1.811944, 1.179108, 1.757100, -2.14162, -1.143369, 1.633046,
-0.432171
]))
# Define and move forwards
camera = Affine(y=0.05)
home = Affine(0.480, -0.05, 0.40)
robot.move(camera, LinearMotion(home, 1.75))
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(0.05)
# Define and move forwards
camera = Affine(-0.079, -0.0005, 0.011, 0.0, 0.0, 0.0)
# camera = Affine(-0.079, -0.0005, 0.011, -np.pi / 4, 0.0, -np.pi)
home = Affine(0.480, -0.025, 0.21, 0.0)
robot.move(camera, LinearMotion(home))
from argparse import ArgumentParser
from frankx import Affine, PathMotion, 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()
# Connect to the robot
robot = Robot(args.host)
robot.set_default_behavior()
robot.recover_from_errors()
# Reduce the acceleration and velocity dynamic
robot.set_dynamic_rel(0.2)
# Define and move forwards
motion = PathMotion([
Affine(0.5, 0.0, 0.35),
Affine(0.5, 0.0, 0.24, -0.3),
Affine(0.5, -0.2, 0.35),
],
blend_max_distance=0.05)
robot.move(motion)