Pose tool to save/restore pose or joint positions

[samyk]

usage: pose.py [-h] [-H HOST] [-f FILE] (-g | -s | -l) [-n POSE_NAME] [-p POSE] [-a ACC] [-v VEL] [-F] [-e] [-j]

Get and set robot poses using RTDE

options:
  -h, --help            show this help message and exit
  -H HOST, --host HOST  Robot hostname or IP (default: from UR_HOST env)
  -f FILE, --file FILE  Pose file (default: poses.json)
  -g, --get             Get current pose and save to file
  -s, --set             Move to a pose
  -l, --list            List all poses in file
  -n POSE_NAME, --pose-name POSE_NAME
                        Name for pose when getting, or name to use when setting (default: 'current')
  -p POSE, --pose POSE  Pose as comma-separated values: 'x, y, z, rx, ry, rz'
  -a ACC, --acc ACC     Acceleration (default: 0.3)
  -v VEL, --vel VEL     Velocity (default: 0.05)
  -F, --force           Force overwrite existing pose without confirmation
  -e, --explain         Show explanation of joint positions and poses
  -j, --joints          When setting pose, prefer joint positions over Cartesian pose

Example script for getting and setting robot poses using RTDE. -samy kamkar

Usage:
    # Get current pose and save to file
    python pose.py -g [-f poses.json] [-n "home"] [-F]

    # Move to pose from file
    python pose.py -s -f poses.json -n "home"

    # Move to pose from command line
    python pose.py -s -p "0.3, 0.2, 0.4, 0, 3.14, 0"

    # List all poses in file
    python pose.py -l [-f poses.json]