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Use movejs to go to all cable positions

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This commit is contained in:
Cole Deck 2024-03-17 16:21:57 -05:00
parent bec0c63763
commit fb85a56d47
1 changed files with 4 additions and 2 deletions
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6
ur5_control.py
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@ -347,10 +347,12 @@ if __name__ == "__main__":
#global config #global config
config = yaml.safe_load(fileread) config = yaml.safe_load(fileread)
joints = []
for joint in config["position_map"]: for joint in config["position_map"]:
print("Going to cable holder index", joint["index"], "at position", joint["pos"]) 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) angles = get_joints_from_xyz_abs(joint["pos"][1]/1000, joint["pos"][0]/1000, 0)
rob.movej(angles, acc=2, vel=2) joints.append(angles)
rob.movejs(joints, acc=2, vel=2)
# joints = [] # joints = []
# for i in np.linspace(-0.3, -0.7, 50): # for i in np.linspace(-0.3, -0.7, 50):
# joints.append(get_joints_from_xyz_abs(i, 0, 0)) # joints.append(get_joints_from_xyz_abs(i, 0, 0))