Source code for ur_cb2.send.cb2_send_example

"""This basic script demonstrates usage of the cb2_send module."""

# The MIT License (MIT)
#
# Copyright (c) 2016 GTRC.
#
# Permission is hereby granted, free of charge, to any person obtaining a copy
# of this software and associated documentation files (the "Software"), to deal
# in the Software without restriction, including without limitation the rights
# to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
# copies of the Software, and to permit persons to whom the Software is
# furnished to do so, subject to the following conditions:
#
# The above copyright notice and this permission notice shall be included in all
# copies or substantial portions of the Software.
#
# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
# IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
# FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
# AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
# LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
# OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
# SOFTWARE.

import socket
import time

import cb2_send

def main():
    HOST = "192.168.1.100"    # The remote host
    PORT = 30003              # The same port as used by the server
    robot_socket = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
    robot_socket.connect((HOST, PORT))

    robot = cb2_send.URSender(robot_socket, True)

    angle_start = [90, -95, 90, 0, 90, 90]
    angle_start = map(cb2_send.deg_2_rad, angle_start)

    robot.move_joint(angle_start)
    time.sleep(2.5)  # Need to wait for move to complete

    angle_finish = [70, -65, 90, 0, 90, 90]
    angle_finish = map(cb2_send.deg_2_rad, angle_finish)

    robot.move_joint(angle_finish)

if __name__=="main":
    main()