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compas-rrc / compas_rrc

Online control for ABB robots over a simple-to-use Python interface.
https://compas-rrc.github.io/compas_rrc/
MIT License
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RelTool - Make a displacement relative to the tool #17

Open matteo-pacher opened 3 years ago

matteo-pacher commented 3 years ago

As a _compasrrc user, I would like to take advantage of the tool relative motion (RAPID RelTool)

Details

Describe the feature and the current behavior/state RelTool allows tool relative motion and rotation.

Describe alternatives you've considered I am currently reading in the robot frame, offsetting the frame, and then moving the robot with a MoveL to the offset target frame.

Will this change the current API? How? Adding a class ToolRelativeMove to motion.py, and implementing the RAPID function.

Are you willing to contribute it? Yes, I can help with the class ToolRelativeMove in the motion.py module.