From 635c2708a0902e847052aecfb2f5d09372917225 Mon Sep 17 00:00:00 2001
From: Cole Deck <cdeck@hawk.iit.edu>
Date: Tue, 14 May 2024 16:16:05 -0500
Subject: [PATCH] Redo arm startup motion

---
 jukebox-web    | 2 +-
 ur5_control.py | 6 ++++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/jukebox-web b/jukebox-web
index 8fe3309..1bdc2b1 160000
--- a/jukebox-web
+++ b/jukebox-web
@@ -1 +1 @@
-Subproject commit 8fe33095ddd16d1b975453b0ee0e7a52767605f8
+Subproject commit 1bdc2b1438a4607ff964df7d3e3252b8dd6e154a
diff --git a/ur5_control.py b/ur5_control.py
index f4c1c14..25ae52d 100755
--- 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