Wandelscript examples

tcp("Flange")
home = (-200, -600, 250, 0, -pi, 0)
 
blending(0)
blending_start = __ms_blending # =0
velocity(1000)
 
move via p2p() to home
move via line() to (0, 200, 0, 0, 0, 0) :: home with blending(1)
blending_after_single_line = __ms_blending # =0
with blending(2):
    blending_in_context = __ms_blending # =2
    move via line() to (200, 200, 0, 0, 0, 0) :: home with blending(500)
    blending_in_context_after_single_line = __ms_blending # =2
blending_after_context = __ms_blending # =0
move via p2p() to home
 
def move_line_1(pose):
    move via line() to pose :: home
    return __ms_blending
 
blending_initial_in_function = move_line_1((200, 200, 0, 0, 0, 0)) # =0
 
with blending(3):
    blending_in_context_in_function = move_line_1((200, 200, 0, 0, 0, 0)) # =3
    move via line() to (200, 0, 0, 0, 0, 0) :: home with blending(500)
    blending_in_context_after_single_line_in_function = __ms_blending # =3
 
blending_end = __ms_blending # =0

# This requires the "Bottle_opener_s" TCP to exist in your robot.
 
home = (552.9, 339.5, 274, 1.2232, -2.8803, 0.0255)
bottle = (671.9, 411.4, 210, -0.9615, 2.304, 0.3044)
moveOpen = (-12,0,-10,0,0.65,0)
Bottle_opener_s = frame("Bottle_opener_s")
 
velocity(50)
move Bottle_opener_s via p2p() to home
 
# approach
move Bottle_opener_s via line() to bottle :: (0,0,-10,0,0,0)
 
# open
velocity(10)
move Bottle_opener_s via line() to bottle
wait(750)
move Bottle_opener_s via line() to bottle :: moveOpen
 
# retreat
velocity(50)
move Bottle_opener_s via line() to (-10, 0, 20, 0, 0, 0) :: bottle :: moveOpen
 
move Bottle_opener_s via p2p() to home

a = 1 + 4
b = 4 * 2 + 3
c = 3 + 4 * 2
d = (3 + 4) * 2
e = a * 4
f = 4 - 6
g = 3 - 2
h = - 8 + 5
i = - (8 + 5)
j, k = [1, 4]
l = 3 < 4
m = 4 < 3
n = True == True
o = False == True
p = a == 5
q = 5 == a
r = a == 4
s = a == a
t = a - 1 == 4
u = 4 == a - 1
v = a + 1 == a + 1
w = a + 1 == a + 2
x = True != True
y = False != True
z = a != e
 
def true():
    return True
 
aa = true() == true()
ab = [1, 2, 3][0] == [1, 2, 3][0]

a = 1 + 4
b = 4 * 2 + 3
c = 3 + 4 * 2
d = (3 + 4) * 2
e = a * 4
f = 4 - 6
g = 3 - 2
h = - 8 + 5
i = - (8 + 5)
j, k = [1, 4]
l = 3 < 4
m = 4 < 3
n = True == True
o = False == True
p = a == 5
q = 5 == a
r = a == 4
s = a == a
t = a - 1 == 4
u = 4 == a - 1
v = a + 1 == a + 1
w = a + 1 == a + 2
x = True != True
y = False != True
z = a != e
 
def true():
    return True
 
aa = true() == true()
ab = [1, 2, 3][0] == [1, 2, 3][0]

a = (1, 2, 3, 0.4, 0.5, 0.6)
b = (4, 2, 5, 0.1, 0.3, 0.5)
c = a :: b
def func_a():
    return a
def func_b():
    return b
func_c1 = func_a :: b
evaled_c1 = func_c1()
func_c2 = a :: func_b
evaled_c2 = func_c2()
func_c3 = func_a :: func_b
evaled_c3 = func_c3()

tcp("Flange")
move via p2p() to (-200, -600, 300, 0, pi, 0)
move via line() to (-250, -600, 300, 0, pi, 0)
a = planned_pose()
python_print(a)
b = read(robot, 'pose')
python_print(b)

write(controller, 'tool_out[0]', True)
move via p2p() to (-200, -600, 300, 0, -3, 0)
write(controller, 'tool_out[0]', False)
move via line() to (-200, -600, 100)
a = read(controller, 'tool_out[0]')
write(controller, 'tool_out[0]', True)
move via line() to (-200, -600, 150)
b = read(controller, 'tool_out[0]')

start_left = (775.2, -473.7, 262.2, 2.916, -0.062, 1.195)  # pose whose xy-plane is parallel to the left surface and the origin is close to start position
end_left = (795.4, 60.7, 272.7, 2.92, -0.062, 1.185)  # pose whose xy-plane is parallel to the left surface and the origin is close to end position
start_right = (799.8, -467.0, 265.4, 2.866, -0.213, -1.158)  # pose whose xy-plane is parallel to the right surface and the origin is close to start position
end_right = (817.1, 54.6, 255.7, 2.866, -0.213, -1.158)  # pose whose xy-plane is parallel to the right surface and the origin is close to end position
radius = 8  # the desired radius of the final edge
spacing = 40  #  the distance between to zig-zag corners
 
edge_poses = find_edge_from_4_poses(start_left, end_left, start_right, end_right)
start  = to_position(edge_poses[0])
end  = to_position(edge_poses[1])
n = int(distance(start, end) / spacing)
plane_orientations = [to_orientation(edge_poses[0]), to_orientation(edge_poses[1])]
center_rotation = interpolate(plane_orientations[0], plane_orientations[1], 0.5)
 
offset = (0, 0, -radius, 0, 0, 0)
offset_from_axis = center_rotation :: (0, 0, distance_from_corner(edge_poses[0], edge_poses[1], radius), 0, 0, 0) :: ~center_rotation
b = 0
 
move via p2p() to (0, 0, 100, 0, 0, 0) :: to_pose(start) :: offset_from_axis :: plane_orientations[0] :: offset :: (0, 0, -100, 0, 0, 0)
move via line() to to_pose(start) :: offset_from_axis :: plane_orientations[0] :: offset
sync
write(controller, "10020#0009", True)
sync
for i = 0..<int(n / 2):
    c = b
    a = interpolate(to_pose(start), to_pose(end),(2 * i + 1) / n ) :: offset_from_axis :: center_rotation :: offset
    b = interpolate(to_pose(start), to_pose(end),(2 * i + 2) / n ) :: offset_from_axis :: plane_orientations[modulo(i + 1, 2)] :: offset
    python_print(to_position(b))
    move via arc(a) to b
    # FIX: without the following line the last motion is a circular and the first motion cannot be a circular
    move via p2p() to b
    if i == 1:
        test_pose = planned_pose()
sync
write(controller, "10020#0009", False)
sync