pshell_config/mxsc
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gac-S_Changer
2017-02-27 12:52:21 +01:00
parent e23ba25e25
commit 6d35f7add7
2 changed files with 7 additions and 13 deletions
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robot/MXLAB/Controller1/usr/usrapp/ForceDetection/comTcp.pgx
+6 -12
View File
@@ -137,11 +137,6 @@
case "get_arr"
toNum(args[1], count, ok)
for index = 0 to count
if cmd == "get_var"
ret = getData(args[0], aux)
else
ret = getData(args[0], auxb)
endIf
ret = getData(args[0] + "[" + toString("", index )+ "]", aux)
switch(ret)
case -1
@@ -174,13 +169,12 @@
case "get_pnt"
$exec("p = " + args[0])
$exec("t = " + args[0])
tx = tx + toString(".4", p.trsf.x) + "|"
tx = tx + toString(".4", p.trsf.y) + "|"
tx = tx + toString(".4", p.trsf.z) + "|"
tx = tx + toString(".4", p.trsf.rx) + "|"
tx = tx + toString(".4", p.trsf.ry) + "|"
tx = tx + toString(".4", p.trsf.rz) + "|"
tx = tx + toString(".4", p.trsf.x) + "|"
tx = tx + toString(".4", p.trsf.y) + "|"
tx = tx + toString(".4", p.trsf.z) + "|"
tx = tx + toString(".4", p.trsf.rx) + "|"
tx = tx + toString(".4", p.trsf.ry) + "|"
tx = tx + toString(".4", p.trsf.rz) + "|"
break
case "get_jnt"
script/test/TestRobot2.py
+1 -1
View File
@@ -39,7 +39,7 @@ try:
step = 16
robot.set_move_id(10)
step = 17
#robot.get_joint_forces()
robot.get_joint_forces()
step = 18
#robot.open("gripper")
#robot.close("gripper")