{"id":6154,"date":"2021-09-13T15:16:19","date_gmt":"2021-09-13T06:16:19","guid":{"rendered":"http:\/\/zero.globalzeus.com\/?p=6154"},"modified":"2021-09-13T16:58:19","modified_gmt":"2021-09-13T07:58:19","slug":"zra-ex22_pass_through-py","status":"publish","type":"post","link":"http:\/\/zero.globalzeus.com\/en\/zra-ex22_pass_through-py\/","title":{"rendered":"ZRA &#8211; ex22_pass_through.py"},"content":{"rendered":"\t\t<div data-elementor-type=\"wp-post\" data-elementor-id=\"6154\" class=\"elementor elementor-6154\">\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-1200a6c elementor-section-stretched elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"1200a6c\" data-element_type=\"section\" 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elementor-element-58634d0\" data-id=\"58634d0\" 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-fd41ce6 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=\"fd41ce6\" 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\nfrom i611_MCS import *\r\nfrom i611_extend import *\r\nfrom i611_io import *\r\nfrom i611shm import *\r\nimport sys\r\nimport time\r\nimport pdb\r\n# from robotworld_greeting\r\n\r\n# m = MotionParam(jnt_speed=20, lin_speed=100, acctime=0.2, dacctime=0.2, overlap=50)\r\ndef BackToHome(argRb, argHome):\r\n    # argRb.motionparam(m)\r\n    argRb.move(argHome)\r\n\r\ndef main():\r\n    rb = i611Robot()\r\n    _BASE = Base()\r\n    rb.open()\r\n    IOinit(rb)\r\n    rb.enable_interrupt(1,True)\r\n\r\n    jHome = Joint(0,0,0,0,0,0)\r\n    j0 = Joint( j1=   0, j2 = 60, j3 = -90, j4 = 0, j5 = 40,  j6 = 0 )\r\n    p0 = Position( x = 100, y =  250, z = 300, rx = -180, ry = 0, rz = 0, posture=6 )\r\n    p1 = Position( x = 100, y = -250, z = 300, rx = -180, ry = 0, rz = 0, posture=7 )\r\n    \r\n    m = MotionParam(jnt_speed=100, lin_speed=1000, overlap=30, acctime=1, dacctime=1)\r\n    rb.motionparam(m)\r\n\r\n    rb.override(10)\r\n\r\n    ################################    \r\n    \r\n    BackToHome(rb, jHome)\r\n    try:\r\n        while True:\r\n           \r\n            rb.move(p0)\r\n            rb.relline(dz=-50)\r\n            rb.move(p0)\r\n            rb.move(p1)\r\n            rb.relline(dz=-50)\r\n            rb.move(p1)\r\n   \r\n    except KeyboardInterrupt, e:\r\n        print \"(except KeyboardInterrupt)\", e\r\n        BackToHome(rb, jHome)\r\n    except Exception, e:\r\n        print \"(except Exception)\", e\r\n    BackToHome(rb, jHome)\r\n    rb.close()\r\n\r\nif __name__ == '__main__':\r\n    main()\r\n<\/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-1210eb9 elementor-section-stretched elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"1210eb9\" data-element_type=\"section\" 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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-c3fd39b\" data-id=\"c3fd39b\" 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 -*- from i611_MCS import * from i611_extend import * from i611_io import * from i611shm import * import sys import time import pdb # from robotworld_greeting # m = MotionParam(jnt_speed=20, lin_speed=100, acctime=0.2, dacctime=0.2, overlap=50) def BackToHome(argRb, argHome): # argRb.motionparam(m) argRb.move(argHome) def main(): rb = i611Robot() _BASE = Base() rb.open() IOinit(rb) rb.enable_interrupt(1,True) [&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\/6154"}],"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=6154"}],"version-history":[{"count":4,"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/posts\/6154\/revisions"}],"predecessor-version":[{"id":6170,"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/posts\/6154\/revisions\/6170"}],"wp:attachment":[{"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/media?parent=6154"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/categories?post=6154"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/zero.globalzeus.com\/en\/wp-json\/wp\/v2\/tags?post=6154"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}