Jukebox/jukebox-software
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Added open gripper to init routine

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This commit is contained in:
BlueOceanWave 2024-04-24 14:42:07 -05:00
parent f4e43f33d2
commit 275cbd027e
1 changed files with 4 additions and 4 deletions
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6
ur5_control.py
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@ -96,7 +96,7 @@ def init_arm(robot):
# setup - in case of fail. open gripper, move up, then go home. # setup - in case of fail. open gripper, move up, then go home.
rob = robot.robot rob = robot.robot
# open_gripper() open_gripper()
curr_pos = rob.getl() curr_pos = rob.getl()
new_pos = curr_pos new_pos = curr_pos
new_pos[2] += 0.025 new_pos[2] += 0.025
@ -718,8 +718,8 @@ if __name__ == "__main__":
# print('Drop off', i+1) # print('Drop off', i+1)
# drop_off_holder(robot, i+1) # drop_off_holder(robot, i+1)
holder_to_tray(robot, 0, 1) holder_to_camera(robot, 0)
tray_to_camera(robot, 1) camera_to_holder(robot, 0)
print("Current tool pose is: ", rob.getl()) print("Current tool pose is: ", rob.getl())
curr_pos = rob.getl() curr_pos = rob.getl()