example: draw a square.

Author: gkrasin

example/wrapper/common/custom-draw-square.py

@@ -0,0 +1,65 @@
+#!/usr/bin/env python3
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2019, UFACTORY, Inc.
+# All rights reserved.
+#
+# Author: Vinman <vinman.wen@ufactory.cc> <vinman.cub@gmail.com>
+
+"""
+Description: Move line(linear motion)
+"""
+
+import os
+import sys
+import time
+
+sys.path.append(os.path.join(os.path.dirname(__file__), '../../..'))
+
+from xarm.wrapper import XArmAPI
+
+
+#######################################################
+"""
+Just for test example
+"""
+if len(sys.argv) >= 2:
+ ip = sys.argv[1]
+else:
+ try:
+ from configparser import ConfigParser
+ parser = ConfigParser()
+ parser.read('../robot.conf')
+ ip = parser.get('xArm', 'ip')
+ except:
+ ip = input('Please input the xArm ip address:')
+ if not ip:
+ print('input error, exit')
+ sys.exit(1)
+########################################################
+
+
+arm = XArmAPI(ip, is_radian=True)
+arm.motion_enable(enable=True)
+arm.set_mode(0)
+arm.set_state(state=0)
+
+arm.reset(wait=True)
+
+Z_GROUND = 91.2
+
+arm.set_position(x=300, y=-50, z=Z_GROUND, roll=-180, pitch=0, yaw=0, speed=100, is_radian=False, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=False))
+arm.set_position(x=300, y=50, z=Z_GROUND, roll=-180, pitch=0, yaw=0, speed=100, is_radian=False, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=False))
+arm.set_position(x=400, y=50, z=Z_GROUND, roll=-180, pitch=0, yaw=0, speed=100, is_radian=False, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=False))
+arm.set_position(x=400, y=-50, z=Z_GROUND, roll=-180, pitch=0, yaw=0, speed=100, is_radian=False, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=False))
+arm.set_position(x=300, y=-50, z=Z_GROUND, roll=-180, pitch=0, yaw=0, speed=100, is_radian=False, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=False))
+arm.set_position(x=300, y=-50, z=Z_GROUND+10, roll=-180, pitch=0, yaw=0, speed=100, is_radian=False, wait=True)
+print(arm.get_position(), arm.get_position(is_radian=False))
+
+arm.reset(wait=True)
+arm.disconnect()