Simulation mode
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d92ceafa57
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@ -30,6 +30,7 @@ def query_search(partnum, source):
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fprint("Searching for " + partnum)
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if source == "Belden":
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token_url = "https://www.belden.com/coveo/rest/token?t=" + str(int(time.time()))
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try:
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with requests.get(token_url) as r:
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out = json.loads(r.content)
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token = out["token"]
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@ -47,7 +48,6 @@ def query_search(partnum, source):
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'Authorization': f'Bearer {token}',
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'Content-Type': 'application/json'
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}
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try:
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with requests.post(search_url, headers=headers, data=search_data) as r:
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a = r.text
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a = json.loads(a)
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@ -311,8 +311,6 @@ class LEDSystem():
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def setring(self, r,g,b,idx):
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print(self.rings)
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print(self.rings[idx])
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ring = self.rings[idx]
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for pixel in range(ring[2],ring[3]):
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self.setpixel(r,g,b,pixel)
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@ -442,7 +440,7 @@ class LEDSystem():
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dgs /= sizerem
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dbs /= sizerem
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sum += abs(drs) + abs(dgs) + abs(dbs)
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print(drs,dgs,dbs)
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#print(drs,dgs,dbs)
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for x in range(idxa,idxb):
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old = self.exactdata[x]
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new = list(old)
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42
run.py
42
run.py
@ -30,6 +30,8 @@ from search import JukeboxSearch
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from pyModbusTCP.client import ModbusClient
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from uptime import uptime
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# set to false to run without real hardware for development
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real = False
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mbconn = None
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config = None
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@ -60,6 +62,7 @@ cable_list_state = list()
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just_placed = -1
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ring_animation = None
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led_set_mode = None
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sensors = [0,0,0,0]
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def arm_start_callback(res):
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fprint("Arm action complete.")
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@ -310,7 +313,10 @@ def setup_server(pool):
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global jbs
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arm = Rob(config)
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if real:
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pool.apply_async(ur5_control.powerup_arm, (arm,), callback=arm_start_callback, error_callback=handle_error)
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else:
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arm_ready = True
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global ledsys
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ledsys = LEDSystem()
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#pool.apply_async(ledsys.init, callback=led_start_callback)
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@ -343,6 +349,7 @@ def setup_server(pool):
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while arm_ready is False:
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sleep(0.1)
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if real:
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ur5_control.init_arm(arm)
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fprint("Arm initialized.", sendqueue=to_server_queue)
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@ -397,6 +404,7 @@ def get_open_spot(sensordata):
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def mainloop_server(pool):
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# NON-blocking loop
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global real
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global ring_animation
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global led_set_mode
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global just_placed
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@ -416,7 +424,7 @@ def mainloop_server(pool):
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global mainloop_get
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global cable_list_state
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global scan_value
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print(" ***** Running main system loop ***** ")
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#print(" ***** Running main system loop ***** ")
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if killme.value > 0:
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killall()
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@ -429,10 +437,12 @@ def mainloop_server(pool):
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ledsys.mainloop(led_set_mode, ring_animation)
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led_set_mode = None
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else:
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fprint("Not triggering LED loop: no ring animation")
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pass
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#fprint("Not triggering LED loop: no ring animation")
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if mode == "Startup":
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#counter = 54 # remove for demo
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if not real:
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counter = 54
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if counter < 54:
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# scanning cables
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if arm_state is None:
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@ -512,7 +522,8 @@ def mainloop_server(pool):
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while len(tmp) < 54:
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tmp.append(False) # must have 54 entries
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#cable_list = tmp # comment out for real demo
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if not real:
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cable_list = tmp # comment out for real demo
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for idx in range(len(cable_list)):
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cable_list_state.append(True)
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@ -556,7 +567,7 @@ def mainloop_server(pool):
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fprint("All cables added to database.")
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mode = "Idle"
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serverproc = Process(target=start_server_socket, args=(cable_list,), error_callback=handle_error)
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serverproc = Process(target=start_server_socket, args=(cable_list,))
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serverproc.start()
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else:
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# TODO: manual input
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@ -566,8 +577,10 @@ def mainloop_server(pool):
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if mode == "Idle":
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# do nothing
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if arm_ready is False:
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if real:
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pool.apply_async(ur5_control.move_to_home, (arm,), callback=arm_start_callback, error_callback=handle_error)
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#arm_ready = True
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else:
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arm_ready = True
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else:
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global mainloop_get
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@ -585,14 +598,22 @@ def mainloop_server(pool):
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spot = get_open_spot(sensors)
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if spot is not False:
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arm_ready = False
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if real:
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pool.apply_async(ur5_control.holder_to_tray, (arm, get_cable, spot), callback=arm_start_callback, error_callback=handle_error)
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else:
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arm_ready = True
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fprint("Getting cable at position " + str(get_cable))
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mode = "Pickup"
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cable_list_state[get_cable] = False # mark as removed
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get_sensors(sensors,flag=get_open_spot(sensors))
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get_sensors()
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if action == "return":
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arm_ready = False
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fprint("Returning cable from tray position " + str(get_cable))
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if real:
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pool.apply_async(ur5_control.tray_to_camera, (arm, get_cable), callback=arm_start_callback, error_callback=handle_error)
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else:
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arm_ready = True
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mode = "ReturnC"
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else:
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# LED idle anim
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@ -615,7 +636,11 @@ def mainloop_server(pool):
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mode = "Scan"
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arm_ready = False
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camera_ready = False
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if real:
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pool.apply_async(camera.read_qr, (10,), callback=camera_start_callback, error_callback=handle_error)
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else:
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camera_ready = True
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scan_value = "10GXS13"
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else:
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# getting cable from and bringing to camera
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@ -640,7 +665,10 @@ def mainloop_server(pool):
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if cable == scan_value and cable_list_state[idx] == False:
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cable_list_state[idx] = True # mark cable as returned
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arm_ready = False
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if real:
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pool.apply_async(ur5_control.camera_to_holder, (arm, idx), callback=arm_start_callback, error_callback=handle_error)
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else:
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arm_ready = True
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mode = "Return"
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break
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@ -59,9 +59,11 @@ def powerup_arm(robot):
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#
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# wait for power up (this function runs async)
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while not ping(robot.ip):
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count = 0
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while not ping(robot.ip) and count == 10:
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time.sleep(0.5)
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count += 1
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# trigger auto-initialize
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fprint("Arm online. Waiting for calibration.")
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# wait for auto-initialize
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@ -72,16 +74,19 @@ def connect(robot):
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ip = robot.ip
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fprint("Connecting to arm at " + ip)
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trying = True
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while trying:
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count = 0
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while trying and count < 10:
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count += 1
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try:
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robot.robot = urx.Robot(ip)
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trying = False
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except:
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time.sleep(1)
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# Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
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robot.robot.set_tcp((robot.offset_x, robot.offset_y, robot.offset_z, 0, 0, 0))
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# Set weight
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robot.robot.set_payload(2, (0, 0, 0.1))
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trying = False
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except:
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time.sleep(0.5)
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# Sets robot arm endpoint offset (x,y,z,rx,ry,rz)
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return robot
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def init_arm(robot):
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