Update sensor code

2024-08-08 10:51:05 -05:00
parent ea5daf8689
commit 48e7c7b85f
3 changed files with 108 additions and 34 deletions
--- a/ur5_control.py
+++ b/ur5_control.py
@@ -582,7 +582,7 @@ def tray_routine(robot, slot=0, pick_up=True):
   # Positions for each slot
    slot_distance = .052
    slot_height = -.015-.0095+0.007 # add 7mm for shim
-    first_slot = -0.3084+0.01
+    first_slot = -0.3084+0.01+0.003 # add 3mm for tray adjust
    slot_position = [
        [first_slot, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],
        [first_slot+slot_distance, -0.3426, slot_height, 1.5899, 1.5526, -0.9411],