From 44efc4006e3d5faf7458de5ecbe6498400b2c109 Mon Sep 17 00:00:00 2001 From: Cole Deck Date: Tue, 19 Mar 2024 17:48:32 -0500 Subject: [PATCH] Correct flip rz orientation --- led_control.py | 2 +- map3.png | Bin 44985 -> 42106 bytes ur5_control.py | 20 ++++++++++++-------- 3 files changed, 13 insertions(+), 9 deletions(-) diff --git a/led_control.py b/led_control.py index fe38f11..1080869 100755 --- a/led_control.py +++ b/led_control.py @@ -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): diff --git a/map3.png b/map3.png index de8208399582d37c94d346a34b19bc6a457644a3..b00626d0989d58235be450c52aefd24dc90c0500 100644 GIT binary patch literal 42106 zcmZ^LcQ}`Q{I8Tkl4Mi15JCwhWbdqGl@S?{?2(b|y;mwBt4#?JAzMk2hLxF?y|T{h zety?E=Z|xp=Tc9X@pXSc_viC|zt;PX($!JjL&-u(LPD}fT}?@!gk&2Z{{5YNC;qm* zz+{d8NqZ<8dlGR?kA2M zasEHwAmZX?ccf*)*Z?m=aaGO4orGjpDe-69&L*pH5|aE$b*0mWKDU0KxAWPr+IOn@ 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+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)