Jukebox/jukebox-software
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Merge branch 'main' of https://git.myitr.org/Jukebox/jukebox-software

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BlueOceanWave
2024-03-24 13:50:17 -05:00
parent 2ec7906ee4 069d2175d9
commit 6887fa943b
16 changed files with 772 additions and 649 deletions
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37
ur5_control.py
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@@ -319,7 +319,7 @@ def offset_gripper_angle(x, y, z, gripperangle=35, gripperlength=0.20+0.018, fli
grippery += math.sin(gripperangle) * limb3
gripperx = math.sin(gripperangle) * gripperlength + limb3 * 2
gripperx -= (1-math.cos(gripperangle)) * limb3
rz = - math.pi / 2
rz = math.pi / 2
# flip the whole wrist
return get_joints_from_xyz_abs(x, y, z-grippery, rx=gripperangle + math.radians(180), l3offset=-gripperx, ry=math.pi/2, rz=-rz)
@@ -446,27 +446,22 @@ if __name__ == "__main__":
#for i in np.linspace(0, 340, 340):
# joints.append(goto_holder_index(24, 0.5, i))
#rob.movejs(joints, acc=1, vel=3)
# angle = 30
# rob.movej(goto_holder_index(26, 0.1, angle), acc=2, vel=2)
# # rob.movej(goto_holder_index(32, 0.2, angle), acc=2, vel=2)
# rob.movej(goto_holder_index(38, 0.2, angle), acc=2, vel=2)
# rob.movej(goto_holder_index(26, 0.1, angle, flip=True), acc=2, vel=2)
# rob.movej(offset_gripper_angle(-0.3, -0.3, 0.4, flip=True), acc=2, vel=2)
angle = 30
rob.movej(goto_holder_index(26, 0.1, angle), acc=2, vel=2)
time.sleep(1)
rob.movej(goto_holder_index(25, 0.1, angle), acc=2, vel=2)
time.sleep(1)
rob.movej(goto_holder_index(24, 0.1, angle, flip=True), acc=2, vel=2)
#rob.movej(goto_holder_index(32, 0.2, angle), acc=2, vel=2)
#rob.movej(goto_holder_index(38, 0.2, angle), acc=2, vel=2)
#rob.movej(goto_holder_index(25, 0.1, angle, flip=True), acc=2, vel=2)
# safe_move(0.1, 0.1, 0.1)
# safe_move(-0.3, -0.3, 0.1)
# flip()
# flip()
# rob.movej(goto_holder_index(25, 0.2, angle, flip=True), acc=2, vel=2)
# rob.movej(goto_holder_index(24, 0.0, angle, flip=True), acc=2, vel=2)
# time.sleep(1)
# rob.movej(goto_holder_index(25, 0.1, angle, flip=True), acc=2, vel=2)
# rob.movej(goto_holder_index(49, 0.1, angle), acc=2, vel=2)
# rob.movej(goto_holder_index(49, 0.1, angle, flip=True), acc=2, vel=2)
#rob.movej(goto_holder_index(25, 0.2, angle, flip=True), acc=2, vel=2)
#rob.movej(goto_holder_index(24, 0.1, angle, flip=True), acc=2, vel=2)
#time.sleep(1)
#rob.movej(goto_holder_index(25, 0.1, angle, flip=True), acc=2, vel=2)
#rob.movej(goto_holder_index(49, 0.1, angle), acc=2, vel=2)
#rob.movej(goto_holder_index(49, 0.1, angle, flip=True), acc=2, vel=2)
# rob.movej(goto_holder_index(50, 0.1, angle, flip=True), acc=2, vel=2)
# rob.movej(goto_holder_index(51, 0.1, angle, flip=True), acc=2, vel=2)
# rob.movej(goto_holder_index(52, 0.1, angle, flip=True), acc=2, vel=2)