Jukebox/jukebox-software
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Fixed positions for holder 47 and 45 in config.yaml

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This commit is contained in:
BlueOceanWave 2024-04-26 17:49:11 -05:00
parent 275cbd027e
commit f7b4f264c4
2 changed files with 19 additions and 9 deletions
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4
config.yml
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@ -511,7 +511,7 @@ position_map:
- index: 36 - index: 36
pos: [-228.6, -131.982] pos: [-228.6, -131.982]
- index: 37 - index: 37
pos: [-152.4, -131.982] pos: [-151, -133]
- index: 38 - index: 38
pos: [-76.2, -131.982] pos: [-76.2, -131.982]
- index: 39 - index: 39
@ -527,7 +527,7 @@ position_map:
- index: 44 - index: 44
pos: [-114.3, -197.973] pos: [-114.3, -197.973]
- index: 45 - index: 45
pos: [-38.1, -197.973] pos: [-35, -199]
- index: 46 - index: 46
pos: [38.1, -197.973] pos: [38.1, -197.973]
- index: 47 - index: 47

24
ur5_control.py
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@ -486,7 +486,7 @@ def safe_move(robot, x, y, z, use_closest_path=True):
if (r <= flip_radius and is_flipped(robot)) or (r > flip_radius and not is_flipped(robot)): if (r <= flip_radius and is_flipped(robot)) or (r > flip_radius and not is_flipped(robot)):
flip(robot) flip(robot)
rob.movej(offset_gripper_angle(robot, x, y, z, flip=is_flipped(robot), use_closest_path=use_closest_path), vel=4, acc=3) rob.movej(offset_gripper_angle(robot, x, y, z, flip=is_flipped(robot), use_closest_path=use_closest_path), vel=2, acc=2)
return True return True
def holder_routine(robot, holder_index, pick_up, verbose=False): def holder_routine(robot, holder_index, pick_up, verbose=False):
@ -711,15 +711,25 @@ if __name__ == "__main__":
#move_to_packup(robot) #move_to_packup(robot)
# pick_up_holder(robot, 2)
# drop_off_tray(robot, 0)
# for i in range(3): # pick_up_tray(robot, 1)
# pick_up_holder(robot, i) # drop_off_holder(robot, 5)
# print('Drop off', i+1) # pick_up_holder(robot, 26)
# drop_off_holder(robot, i+1) # drop_off_tray(robot, 3)
holder_to_camera(robot, 0)
camera_to_holder(robot, 0) for i in range(44,45):
pick_up_holder(robot, i)
print('Drop off', i+1)
drop_off_holder(robot, i+1)
input()
# holder_to_camera(robot, 0)
# camera_to_holder(robot, 0)
print("Current tool pose is: ", rob.getl()) print("Current tool pose is: ", rob.getl())
curr_pos = rob.getl() curr_pos = rob.getl()