Open gripper before picking up

2024-05-14 20:21:09 -05:00 · 2024-05-14 20:21:09 -05:00 · 32260595a1
commit 32260595a1
parent aeeb4c232a
1 changed files with 3 additions and 1 deletions
--- a/ur5_control.py
+++ b/ur5_control.py
@ -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+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)

    # Place/Grab the tube