Script execution

script/RobotTCP.py

@@ -239,15 +239,36 @@ class RobotTCP(TcpDevice, Stoppable):
     def herej(self):
         return self.eval_jnt("herej()")
     
+    def distance_t(self, trsf1, trsf2):    
+        return self.eval_float("distance(" + trsf1 + ", " + trsf2 + ")")
     
+    def distance_p(self, pnt1, pnt2):    
+        return self.eval_float("distance(" + pnt1 + ", " + pnt2 + ")")
+
+    def compose(self, pnt, frame):    
+        return self.eval_pnt("compose(" + pnt + ", " + frame + ")")
+
+    def herej(self, tool, frame):
+        return self.eval_pnt("here(" + tool + ", " + frame + ")")
+
+    def joint_to_point(self, tool, frame, joint):
+        return self.eval_pnt("jointToPoint(" + tool + ", " + frame + ", " + joint +")")
+
+    def point_to_joint(self, tool, initial_joint, point):
+        if self.eval_bool("pointToJoint(" + tool + ", " + initial_joint + ", " + point +", j)")
+            return get_jnt()
+
+    def position(self, point, frame)
+        return self.eval_trf("position(" + point + ", " + frame + ")")
+
     #Updating
     def update_status(self):
         #TODO: This can optimized with a single call
         self.read_working_mode()
         self.is_powered()
         self.get_monitor_speed()
-        #self.is_empty()
-        #self.is_settled()
+        self.is_empty()
+        self.is_settled()
 
     def poll_events(self):
         ev = self.read_event()