Jukebox/jukebox-software
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Redo arm startup motion

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This commit is contained in:
Cole Deck 2024-05-14 16:16:05 -05:00
parent 62ec1e7443
commit 635c2708a0
2 changed files with 5 additions and 3 deletions
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2
jukebox-web

@ -1 +1 @@
Subproject commit 8fe33095ddd16d1b975453b0ee0e7a52767605f8 Subproject commit 1bdc2b1438a4607ff964df7d3e3252b8dd6e154a

6
ur5_control.py
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@ -105,9 +105,11 @@ def init_arm(robot):
open_gripper() open_gripper()
curr_pos = rob.getl() curr_pos = rob.getl()
new_pos = curr_pos new_pos = curr_pos
new_pos[2] += 0.025 new_pos[2] -= 0.025
rob.movel(new_pos, vel=0.05, acc=1) 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) move_to_home(robot, speed=0.5)
return True return True