From fb85a56d4700e5d0d38bfa0847923fb0ce8d5558 Mon Sep 17 00:00:00 2001 From: Cole Deck Date: Sun, 17 Mar 2024 16:21:57 -0500 Subject: [PATCH] Use movejs to go to all cable positions --- ur5_control.py | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/ur5_control.py b/ur5_control.py index b205d00..4878725 100755 --- a/ur5_control.py +++ b/ur5_control.py @@ -347,10 +347,12 @@ if __name__ == "__main__": #global config config = yaml.safe_load(fileread) + joints = [] for joint in config["position_map"]: print("Going to cable holder index", joint["index"], "at position", joint["pos"]) - angles = get_joints_from_xyz_abs(joint["pos"][0]/1000, joint["pos"][1]/1000, 0) - rob.movej(angles, acc=2, vel=2) + angles = get_joints_from_xyz_abs(joint["pos"][1]/1000, joint["pos"][0]/1000, 0) + joints.append(angles) + rob.movejs(joints, acc=2, vel=2) # joints = [] # for i in np.linspace(-0.3, -0.7, 50): # joints.append(get_joints_from_xyz_abs(i, 0, 0))