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Update MQTT commands, arm height

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This commit is contained in:
Cole Deck
2024-07-31 18:25:10 -05:00
parent b677556ece
commit 534cc23c8d
4 changed files with 29 additions and 12 deletions
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2
ur5_control.py
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@@ -261,7 +261,7 @@ def move_to_home(robot, keep_flip=False, speed=2):
flip(robot)
# Move robot to home position
rob.movej(offset_gripper_angle(robot, *(-0.18, -0.108, 0.35), flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
rob.movej(offset_gripper_angle(robot, *(-0.18, -0.108, 0.25), flip=is_flipped(robot)), vel=2, acc=2) # Move to safe position
return True