diff --git a/ur5_control.py b/ur5_control.py index dcded4d..2030e60 100755 --- a/ur5_control.py +++ b/ur5_control.py @@ -1,9 +1,8 @@ -#!/usr/bin/env python3 - import urx import math3d as m3d import math import time +import os import logging from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper import sys @@ -36,7 +35,11 @@ def init(ip): except: time.sleep(1) robotiqgrip = Robotiq_Two_Finger_Gripper(rob) + + # Sets robot arm endpoint offset (x,y,z,rx,ry,rz) rob.set_tcp((0, 0, 0.15, 0, 0, 0)) + + # Set weight rob.set_payload(2, (0, 0, 0.1)) #rob.set_payload(2, (0, 0, 0.1)) time.sleep(0.2) @@ -57,7 +60,7 @@ def set_pos_abs(x, y, z, xb, yb, zb): new_trans.pos.y = y new_trans.pos.z = z #rob.speedj(0.2, 0.5, 99999) - rob.set_pose(new_trans, acc=5.0, vel=5.0, command="movej") # apply the new pose + rob.set_pose(new_trans, acc=2, vel=2, command="movej") # apply the new pose def set_pos_rel_rot_abs(x, y, z, xb, yb, zb): global rob @@ -92,6 +95,7 @@ if __name__ == "__main__": set_pos_abs(-0.5, -0.2, 0.4, math.pi, 0, -math.pi) #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi) fprint("Current tool pose is: ", rob.getl()) - sys.exit(0) rob.stop() + os.kill(os.getpid(), 9) # dirty kill of self + sys.exit(0)