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| import math | |
| lengthRearArm = 135.0 | |
| lengthForearm = 160.0 | |
| # Distance from joint3 to the center of the tool mounted on the end effector. | |
| distanceTool = 50.9 | |
| heightFromBase = 80.0 + 23.0 | |
| maxDistance = lengthRearArm + lengthForearm | |
| speed = None | |
| acceleration = None | |
| print('Maximum arm stretch', maxDistance) | |
| def MoveWithSpeed(x, y, z, ignore1, ignore2): | |
| radius = hypothenuse(x, y) + distanceTool | |
| height = z - heightFromBase | |
| distance = hypothenuse(radius, height) | |
| print((x, y, z), 'distance', distance) | |
| def hypothenuse(a, b): | |
| return math.sqrt(math.pow(a, 2) + math.pow(b, 2)) | |
| MoveWithSpeed(210.9, 0, 0, speed, acceleration) | |
| MoveWithSpeed(210.9, 0, 238, speed, acceleration) | |
| MoveWithSpeed(210.9, 150, 238, speed, acceleration) | |
| MoveWithSpeed(0, 150, 238, 50, acceleration) | |
| MoveWithSpeed(210.9, -150, 238, 50, acceleration) | |
| MoveWithSpeed(210.9, 0, 238, speed, acceleration) |
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