Jukebox/jukebox-software
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Added system exit

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BlueOceanWave 2024-02-16 20:36:43 -06:00 committed by Cole Deck
parent 20a970025d
commit fc6baa8826
1 changed files with 8 additions and 4 deletions
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12
ur5_control.py
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@ -1,9 +1,8 @@
#!/usr/bin/env python3
import urx import urx
import math3d as m3d import math3d as m3d
import math import math
import time import time
import os
import logging import logging
from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper from urx.robotiq_two_finger_gripper import Robotiq_Two_Finger_Gripper
import sys import sys
@ -36,7 +35,11 @@ def init(ip):
except: except:
time.sleep(1) time.sleep(1)
robotiqgrip = Robotiq_Two_Finger_Gripper(rob) 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)) 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))
#rob.set_payload(2, (0, 0, 0.1)) #rob.set_payload(2, (0, 0, 0.1))
time.sleep(0.2) 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.y = y
new_trans.pos.z = z new_trans.pos.z = z
#rob.speedj(0.2, 0.5, 99999) #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): def set_pos_rel_rot_abs(x, y, z, xb, yb, zb):
global rob 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_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) #set_pos_rel_rot_abs(0, 0, 0, math.pi, 0, -math.pi)
fprint("Current tool pose is: ", rob.getl()) fprint("Current tool pose is: ", rob.getl())
sys.exit(0)
rob.stop() rob.stop()
os.kill(os.getpid(), 9) # dirty kill of self
sys.exit(0)