Redo arm startup motion

2024-05-14 16:16:05 -05:00 · 2024-05-14 16:16:05 -05:00 · 635c2708a0
commit 635c2708a0
parent 62ec1e7443
2 changed files with 5 additions and 3 deletions
--- a/2
+++ b/2
@ -1 +1 @@
-Subproject commit 8fe33095ddd16d1b975453b0ee0e7a52767605f8
+Subproject commit 1bdc2b1438a4607ff964df7d3e3252b8dd6e154a
--- a/ur5_control.py
+++ b/ur5_control.py
@ -105,9 +105,11 @@ def init_arm(robot):
    open_gripper()
    curr_pos = rob.getl()
    new_pos = curr_pos
-    new_pos[2] += 0.025
+    new_pos[2] -= 0.025
    rob.movel(new_pos, vel=0.05, acc=1)
-
+    curr_j = rob.getj()
+    curr_j[4] += 0.3
+    rob.movej(curr_j, vel=0.05, acc=1)
    move_to_home(robot, speed=0.5)

    return True