pshell_config/mxsc
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gac-S_Changer
2018-10-16 18:05:43 +02:00
parent cfc4b3a0da
commit 3d86c27140
19 changed files with 333 additions and 111 deletions
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script/calibration/ToolCalibration2.py
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@@ -54,7 +54,7 @@ off_x = x1 - x2
#For composing cannot use tcp_p, need another auxiliary point. tcp_t is also destroyed.
robot.set_pnt(robot.get_cartesian_pos(), "pTemp")
robot.set_trsf([off_x, 0,0,0,0,0])
c=robot.compose("pTemp", "fTable", "tcp_t" )
c=robot.compose("pTemp", FRAME_TABLE, "tcp_t" )
robot.set_pnt(c, "pTemp")
robot.movel("pTemp", cal_tool, DESC_SCAN, sync=True)