parser.add_argument('--host',
default='172.16.0.2',
help='FCI IP of the robot')
args = parser.parse_args()
robot = Robot(args.host)
gripper = robot.get_gripper()
robot.set_default_behavior()
robot.recover_from_errors()
robot.set_dynamic_rel(0.2)
home_left = Waypoint(Affine(0.480, -0.15, 0.40), 1.65)
home_right = Waypoint(Affine(0.450, 0.05, 0.35), 1.65)
motion = WaypointMotion([home_left], return_when_finished=False)
thread = robot.move_async(motion)
gripper_thread = gripper.move_unsafe_async(0.05)
for new_affine, new_width in [(home_right, 0.02), (home_left, 0.07),
(home_right, 0.0)]:
input('Press enter for new affine (also while in motion!)\n')
motion.set_next_waypoint(new_affine)
gripper_thread = gripper.move_unsafe_async(new_width)
input('Press enter to stop\n')
motion.finish()
thread.join()
gripper_thread.join()
# 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)
sleep(2.0)
impedance_motion.finish()
robot_thread.join()