From b40a3ebd38ad7ed72549172a7fa040811a1a33ac Mon Sep 17 00:00:00 2001 From: gac-S_Changer Date: Fri, 24 Feb 2017 15:14:59 +0100 Subject: [PATCH] Script execution --- script/RobotTCP.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/script/RobotTCP.py b/script/RobotTCP.py index 7d63995..d9f2026 100644 --- a/script/RobotTCP.py +++ b/script/RobotTCP.py @@ -238,7 +238,16 @@ class RobotTCP(TcpDevice, Stoppable): def get_joint_forces(self): robot_tcp.evaluate("getJointForce(arr)") return robot_tcp.get_float_arr(6) + + def movej(self, joint_or_point, tool, desc): + return self.eval_int("movej(" + joint_or_point + ", " + tool + ", " + desc +")") + def movel(self, point, tool, desc): + return self.eval_int("movel(" + point + ", " + tool + ", " + desc +")") + + def movec(self, point_interm, point_target, tool, desc): + return self.eval_int("movec(" + point_interm + ", " + point_target + ", " + tool + ", " + desc +")") + #Tool #This function can timeout since it synchronizes move.