{"id":5428,"date":"2021-07-13T14:32:47","date_gmt":"2021-07-13T05:32:47","guid":{"rendered":"http:\/\/zero.globalzeus.com\/?p=5428"},"modified":"2021-08-25T09:30:41","modified_gmt":"2021-08-25T00:30:41","slug":"zra_ex02_override-py","status":"publish","type":"post","link":"http:\/\/zero.globalzeus.com\/en\/zra_ex02_override-py\/","title":{"rendered":"ZRA &#8211; ex02_override.py"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"5428\" class=\"elementor elementor-5428\">\n\t\t\t\t\t\t<div class=\"elementor-inner\">\n\t\t\t\t<div class=\"elementor-section-wrap\">\n\t\t\t\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-4b0d6ae elementor-section-stretched elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"4b0d6ae\" data-element_type=\"section\" data-settings=\"{&quot;jet_parallax_layout_list&quot;:[{&quot;jet_parallax_layout_image&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;},&quot;_id&quot;:&quot;1a4921b&quot;,&quot;jet_parallax_layout_image_tablet&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;},&quot;jet_parallax_layout_image_mobile&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;},&quot;jet_parallax_layout_speed&quot;:{&quot;unit&quot;:&quot;%&quot;,&quot;size&quot;:50,&quot;sizes&quot;:[]},&quot;jet_parallax_layout_type&quot;:&quot;scroll&quot;,&quot;jet_parallax_layout_direction&quot;:null,&quot;jet_parallax_layout_fx_direction&quot;:null,&quot;jet_parallax_layout_z_index&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x&quot;:50,&quot;jet_parallax_layout_bg_x_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y&quot;:50,&quot;jet_parallax_layout_bg_y_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size&quot;:&quot;auto&quot;,&quot;jet_parallax_layout_bg_size_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_animation_prop&quot;:&quot;transform&quot;,&quot;jet_parallax_layout_on&quot;:[&quot;desktop&quot;,&quot;tablet&quot;]}],&quot;background_background&quot;:&quot;classic&quot;,&quot;stretch_section&quot;:&quot;section-stretched&quot;}\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-f1dbd07\" data-id=\"f1dbd07\" data-element_type=\"column\" data-settings=\"{&quot;background_background&quot;:&quot;classic&quot;}\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"jupiter-tooltip-widget elementor-element elementor-element-98d3c84 elementor-aspect-ratio-11 elementor-widget elementor-widget-video\" data-jupiter-tooltip-settings=\"{&quot;tooltip&quot;:&quot;false&quot;,&quot;tooltipDescription&quot;:&quot;This is Tooltip!&quot;,&quot;tooltipPlacement&quot;:&quot;top&quot;,&quot;tooltipArrow&quot;:true,&quot;xOffset&quot;:0,&quot;yOffset&quot;:0,&quot;tooltipAnimation&quot;:&quot;fade&quot;,&quot;tooltipTrigger&quot;:&quot;mouseenter&quot;,&quot;zIndex&quot;:999,&quot;customSelector&quot;:&quot;&quot;,&quot;delay&quot;:0}\" data-id=\"98d3c84\" data-element_type=\"widget\" data-settings=\"{&quot;youtube_url&quot;:&quot;https:\\\/\\\/youtu.be\\\/f24-o_Rba68&quot;,&quot;aspect_ratio&quot;:&quot;11&quot;,&quot;video_type&quot;:&quot;youtube&quot;,&quot;controls&quot;:&quot;yes&quot;}\" data-widget_type=\"video.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"elementor-wrapper elementor-fit-aspect-ratio elementor-open-inline\">\n\t\t\t<div class=\"elementor-video\"><\/div>\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-1cc0eee\" data-id=\"1cc0eee\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t<div class=\"jupiter-tooltip-widget elementor-element elementor-element-e72d3cc elementor-widget elementor-widget-code-highlight\" data-jupiter-tooltip-settings=\"{&quot;tooltip&quot;:&quot;false&quot;,&quot;tooltipDescription&quot;:&quot;This is Tooltip!&quot;,&quot;tooltipPlacement&quot;:&quot;top&quot;,&quot;tooltipArrow&quot;:true,&quot;xOffset&quot;:0,&quot;yOffset&quot;:0,&quot;tooltipAnimation&quot;:&quot;fade&quot;,&quot;tooltipTrigger&quot;:&quot;mouseenter&quot;,&quot;zIndex&quot;:999,&quot;customSelector&quot;:&quot;&quot;,&quot;delay&quot;:0}\" data-id=\"e72d3cc\" data-element_type=\"widget\" data-widget_type=\"code-highlight.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<div class=\"prismjs-tomorrow copy-to-clipboard word-wrap\">\n\t\t\t<pre data-line=\"\" class=\"highlight-height language-python line-numbers\">\n\t\t\t\t<code readonly=\"true\" class=\"language-python\">\n\t\t\t\t\t<xmp>#!\/usr\/bin\/python\r\n# -*- coding: utf-8 -*-\r\n\r\n## 1. \ucd08\uae30 \uc124\uc815\u2460 #######################################\r\n# \ub77c\uc774\ube0c\ub7ec\ub9ac \uac00\uc838\uc624\uae30\r\nfrom i611_MCS import *\r\nfrom i611_extend import *\r\nfrom i611_io import *\r\nfrom teachdata import *\r\nfrom rbsys import *\r\nfrom i611_common import *\r\nfrom i611shm import * \r\n\r\ndef main():\r\n  \r\n    ## 2. \ucd08\uae30 \uc124\uc815\u2461 ####################################\r\n    # i611 \ub85c\ubd07 \uc0dd\uc131\uc790\r\n    rb = i611Robot()\r\n    # \uc88c\ud45c\uacc4\uc758 \uc815\uc758\r\n    _BASE = Base()\r\n    # \ub85c\ubd07\uacfc \uc5f0\uacb0 \uc2dc\uc791 \ucd08\uae30\ud654\r\n    rb.open()\r\n    # I\/O \uc785\ucd9c\ub825 \uae30\ub2a5\uc758 \ucd08\uae30\ud654 (I\/O \ubbf8\uc0ac\uc6a9\uc2dc \uc0dd\ub7b5 \uac00\ub2a5 )\r\n    IOinit( rb )\r\n\r\n    data = Teachdata( \"teach_data\" )\r\n    # \uc624\ubc84\ub77c\uc774\ub4dc\r\n    rb.override( 50 )\r\n  \r\n    ## 3. \uad50\uc2dc \ud3ec\uc778\ud2b8 \uc124\uc815 ######################\r\n    p1 = Position( 95, -280, 425, -120, 84, -28 )\r\n    p2 = Position( 95, -280, 240, 154, 80, -114 )\r\n    p3 = Position( 300, -280, 240, 159, 86, -156 )\r\n    p4 = p3.offset( dz=40 )\r\n    j1 = Joint( 230, -1, -92, 90, 5, 89 )\r\n \r\n    ## 4. \ub3d9\uc791 \uc870\uac74 \uc124\uc815 ##################################\r\n    #MotionParam \uc0dd\uc131\uc790\uc5d0\uc11c \ub3d9\uc791 \uc870\uac74 \uc124\uc815\r\n    m = MotionParam( jnt_speed=10, lin_speed=70 )\r\n    #MotionParam \ud615\uc73c\ub85c \ub3d9\uc791 \uc870\uac74 \uc124\uc815\r\n    rb.motionparam( m )\r\n    ## 5. \ub85c\ubd07 \ub3d9\uc791\uc744 \uc815\uc758 ##############################\r\n    # \uc791\uc5c5 \uc2dc\uc791\r\n    rb.home()\r\n    rb.move( p1.offset(dz=30) )\r\n    rb.line( p2, p3, p4 )\r\n    rb.move( j1 )\r\n    rb.home()\r\n \r\n    ## 6. \uc885\ub8cc ######################################\r\n    # \ub85c\ubd07\uacfc\uc758 \uc5f0\uacb0\uc744 \uc885\ub8cc\r\n    rb.close()\r\n\r\nif __name__ == '__main__':\r\n    main()<\/xmp>\n\t\t\t\t<\/code>\n\t\t\t<\/pre>\n\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-bdf4a11 elementor-section-stretched elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"bdf4a11\" data-element_type=\"section\" data-settings=\"{&quot;jet_parallax_layout_list&quot;:[{&quot;jet_parallax_layout_image&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;},&quot;_id&quot;:&quot;1a4921b&quot;,&quot;jet_parallax_layout_image_tablet&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;},&quot;jet_parallax_layout_image_mobile&quot;:{&quot;url&quot;:&quot;&quot;,&quot;id&quot;:&quot;&quot;},&quot;jet_parallax_layout_speed&quot;:{&quot;unit&quot;:&quot;%&quot;,&quot;size&quot;:50,&quot;sizes&quot;:[]},&quot;jet_parallax_layout_type&quot;:&quot;scroll&quot;,&quot;jet_parallax_layout_direction&quot;:null,&quot;jet_parallax_layout_fx_direction&quot;:null,&quot;jet_parallax_layout_z_index&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x&quot;:50,&quot;jet_parallax_layout_bg_x_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_x_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y&quot;:50,&quot;jet_parallax_layout_bg_y_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_y_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size&quot;:&quot;auto&quot;,&quot;jet_parallax_layout_bg_size_tablet&quot;:&quot;&quot;,&quot;jet_parallax_layout_bg_size_mobile&quot;:&quot;&quot;,&quot;jet_parallax_layout_animation_prop&quot;:&quot;transform&quot;,&quot;jet_parallax_layout_on&quot;:[&quot;desktop&quot;,&quot;tablet&quot;]}],&quot;background_background&quot;:&quot;classic&quot;,&quot;stretch_section&quot;:&quot;section-stretched&quot;}\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t\t\t<div class=\"elementor-row\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-f98863b\" data-id=\"f98863b\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-column-wrap elementor-element-populated\">\n\t\t\t\t\t\t\t<div class=\"elementor-widget-wrap\">\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t","protected":false},"excerpt":{"rendered":"<p>#!\/usr\/bin\/python # -*- coding: utf-8 -*- ## 1. \ucd08\uae30 \uc124\uc815\u2460 ####################################### # \ub77c\uc774\ube0c\ub7ec\ub9ac \uac00\uc838\uc624\uae30 from i611_MCS import * from i611_extend import * from i611_io import * from teachdata import * from rbsys import * from i611_common import * from i611shm import * def main(): ## 2. \ucd08\uae30 \uc124\uc815\u2461 #################################### # i611 \ub85c\ubd07 \uc0dd\uc131\uc790 rb = [&hellip;]<\/p>\n","protected":false},"author":1,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"full-width.php","format":"standard","meta":[],"categories":[35],"tags":[],"acf":[],"_links":{"self":[{"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/posts\/5428"}],"collection":[{"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/comments?post=5428"}],"version-history":[{"count":21,"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/posts\/5428\/revisions"}],"predecessor-version":[{"id":6078,"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/posts\/5428\/revisions\/6078"}],"wp:attachment":[{"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/media?parent=5428"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/categories?post=5428"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/tags?post=5428"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}