Expand description
URScript
for Rust
A library enabling efficient and effective control of UR e-series cobots, in both std
and no_std
environments.
This library currently provides:
- Support for
no-std
environemnts - Preproccessing of variables related to
URScript
- Implementation of the pose type seen in
URScript
This library is aiming to provide:
- Formatting of variables and functions in a way compatible with
URScript
- Preproccessing of some functions and variables
- Implementation of all types related to
URScript
- Async helper functions
- Ability to deserialize data from UR5 robot into strings or variables
Example
use ur_script::vars::pose::*;
use core::f32::consts::PI;
let home = Pose::new_pose(0., 1., 2., 0., PI, 0.);
let wobj_diagonal = Pose::new_pos(0., 2., 3.);
let target1 = wobj_diagonal*home;
let target2 = wobj_diagonal*target1;
println!("{}", target2);
Compatibility
The ur_script
crate is tested for:
- rustc 1.65.0
- URScript 5.12
Re-exports
pub use vars::pose::Pose;
Modules
Exports for data structures