This script aims to provide a convinent way to roughly position UR (using urx with python 2.7). I assume the workspace of UR is a cube and command UR to go to the specific locations inside the cubes.
The flow goes like this:
- It partition the workspace in x,y,z direction (as specify by the user)
- The user specify the partition to go, then it calculate the center position of that partition
- execute the position, the orientation is assumed constant
The robot move from left up to right bottom (execute using ursim).
The full videos can be found on youtube