Jukebox/jukebox-software
10
0
Fork 0
Code Issues 3 Pull Requests Packages Projects Releases 2 Wiki Activity

Added open gripper to init routine

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

6
ur5_control.py
View File

@@ -96,7 +96,7 @@ def init_arm(robot):
# setup - in case of fail. open gripper, move up, then go home.
rob = robot.robot
# open_gripper()
open_gripper()
curr_pos = rob.getl()
new_pos = curr_pos
new_pos[2] += 0.025
@@ -718,8 +718,8 @@ if __name__ == "__main__":
# print('Drop off', i+1)
# drop_off_holder(robot, i+1)
holder_to_tray(robot, 0, 1)
tray_to_camera(robot, 1)
holder_to_camera(robot, 0)
camera_to_holder(robot, 0)
print("Current tool pose is: ", rob.getl())
curr_pos = rob.getl()