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set_units("mm", "deg") # set the linear and angular unit types for the program
# waypoints are defined in the header of the program
waypoint_1 = j[0.764, 1.64, 0.741, 0.433, 0.140, 2.74]
waypoint_2 = p[361.53,947.19, 937.11, 45, 0, 0]
# the main function contains the program code
def main():
movel(waypoint_1) # a linear move command
sleep(0.5) # wait for 0.5 seconds
movej(waypoint_2) # a joint move command
sleep(0.5) # wait for 0.5 seconds |
Python Stubs
Below you can find Python stub files, supported in most modern IDEs.
To use them, you need to add the from robot_command.rpl import * import at the beginning of the program. Moreover, install the robot_command-stubs package by issuing the python3 setup.py install command.
Linear and Angular Units
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