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Correct flip rz orientation

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Cole Deck 2024-03-19 17:48:32 -05:00
parent 218303e92b
commit 44efc4006e
3 changed files with 13 additions and 9 deletions
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2
led_control.py
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@ -655,7 +655,7 @@ if __name__ == "__main__":
if not ret:
break
mapimage(frame, fps=30)"""
show = True
show = False
ring = 1
startup_animation(show)
for x in range(54):

BIN
map3.png
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Side by Side Swipe Overlay

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20
ur5_control.py
View File

@ -302,7 +302,7 @@ def offset_gripper_angle(x, y, z, gripperangle=35, gripperlength=0.20+0.018, fli
grippery += math.sin(gripperangle) * limb3
gripperx = math.sin(gripperangle) * gripperlength + limb3 * 2
gripperx -= (1-math.cos(gripperangle)) * limb3
rz = - math.pi / 2
rz = math.pi / 2
# flip the whole wrist
return get_joints_from_xyz_abs(x, y, z-grippery, rx=gripperangle + degtorad(180), l3offset=-gripperx, ry=math.pi/2, rz=rz)
else:
@ -399,16 +399,20 @@ if __name__ == "__main__":
#rob.movejs(joints, acc=1, vel=3)
angle = 30
rob.movej(goto_holder_index(26, 0.1, angle), acc=2, vel=2)
time.sleep(1)
rob.movej(goto_holder_index(25, 0.1, angle), acc=2, vel=2)
time.sleep(1)
rob.movej(goto_holder_index(24, 0.1, angle, flip=True), acc=2, vel=2)
#rob.movej(goto_holder_index(32, 0.2, angle), acc=2, vel=2)
#rob.movej(goto_holder_index(38, 0.2, angle), acc=2, vel=2)
rob.movej(goto_holder_index(26, 0.1, angle, flip=True), acc=2, vel=2)
#rob.movej(goto_holder_index(25, 0.1, angle, flip=True), acc=2, vel=2)
rob.movej(goto_holder_index(25, 0.2, angle, flip=True), acc=2, vel=2)
rob.movej(goto_holder_index(24, 0.0, angle, flip=True), acc=2, vel=2)
time.sleep(1)
rob.movej(goto_holder_index(25, 0.1, angle, flip=True), acc=2, vel=2)
rob.movej(goto_holder_index(49, 0.1, angle), acc=2, vel=2)
rob.movej(goto_holder_index(49, 0.1, angle, flip=True), acc=2, vel=2)
#rob.movej(goto_holder_index(25, 0.2, angle, flip=True), acc=2, vel=2)
#rob.movej(goto_holder_index(24, 0.1, angle, flip=True), acc=2, vel=2)
#time.sleep(1)
#rob.movej(goto_holder_index(25, 0.1, angle, flip=True), acc=2, vel=2)
#rob.movej(goto_holder_index(49, 0.1, angle), acc=2, vel=2)
#rob.movej(goto_holder_index(49, 0.1, angle, flip=True), acc=2, vel=2)
# rob.movej(goto_holder_index(50, 0.1, angle, flip=True), acc=2, vel=2)
# rob.movej(goto_holder_index(51, 0.1, angle, flip=True), acc=2, vel=2)
# rob.movej(goto_holder_index(52, 0.1, angle, flip=True), acc=2, vel=2)