Jukebox/jukebox-software
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Open gripper before picking up

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This commit is contained in:
Cole Deck 2024-05-14 20:21:09 -05:00
parent aeeb4c232a
commit 32260595a1
1 changed files with 3 additions and 1 deletions
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4
ur5_control.py
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@ -547,7 +547,7 @@ def drop_off_holder(robot, pos_updates, holder_index, verbose=False):
def tray_routine(robot, slot=0, pick_up=True): def tray_routine(robot, slot=0, pick_up=True):
robot = connect(robot) robot = connect(robot)
rob = robot.robot rob = robot.robot
# Default to 0 if invalid value # Default to 0 if invalid value
if slot not in [0, 1, 2, 3]: if slot not in [0, 1, 2, 3]:
slot = 0 slot = 0
@ -588,6 +588,8 @@ def tray_routine(robot, slot=0, pick_up=True):
[first_slot+2*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411], [first_slot+2*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
[first_slot+3*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411], [first_slot+3*slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
] ]
if pick_up:
open_gripper()
rob.movel(slot_position[slot],vel=0.2, acc=1) rob.movel(slot_position[slot],vel=0.2, acc=1)
# Place/Grab the tube # Place/Grab the tube