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Add missing "frame" parameters #15

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Add missing "frame" parameters #15

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6 changes: 4 additions & 2 deletions cri_lib/cri_controller.py
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Original file line number Diff line number Diff line change
Expand Up @@ -817,6 +817,7 @@ def move_base_relative(
E2: float,
E3: float,
velocity: float,
frame: str = "#base",
wait_move_finished: bool = False,
move_finished_timeout: float | None = 300.0,
acceleration: float | None = None,
Expand Down Expand Up @@ -845,7 +846,7 @@ def move_base_relative(
requires igus Robot Control version >= V14-004-1 on robot controller
"""
command = (
f"CMD Move RelativeBase {X} {Y} {Z} {A} {B} {C} {E1} {E2} {E3} {velocity}"
f"CMD Move RelativeBase {X} {Y} {Z} {A} {B} {C} {E1} {E2} {E3} {velocity} {frame}"
)

if (
Expand Down Expand Up @@ -893,6 +894,7 @@ def move_tool_relative(
E2: float,
E3: float,
velocity: float,
frame: str = "#base",
wait_move_finished: bool = False,
move_finished_timeout: float | None = 300.0,
acceleration: float | None = None,
Expand Down Expand Up @@ -921,7 +923,7 @@ def move_tool_relative(
requires igus Robot Control version >= V14-004-1 on robot controller
"""
command = (
f"CMD Move RelativeTool {X} {Y} {Z} {A} {B} {C} {E1} {E2} {E3} {velocity}"
f"CMD Move RelativeTool {X} {Y} {Z} {A} {B} {C} {E1} {E2} {E3} {velocity} {frame}"
)

if (
Expand Down