movefasta/aubo-old-sdk-test
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fixes float32->float64; poses for insert

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Falloimitator 2025-05-23 19:56:28 +03:00
parent 26c883eacb
commit 2165c48415
2 changed files with 55 additions and 26 deletions
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39
main.py
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@ -6,28 +6,28 @@ PORT = 9090
config = {
"pre_grasp_position": {
'pos': [0.14726859839859208, 0.5302551637478977, 0.565792932407347],
'ori': [0.1305294928324298, -0.34660161091966263, 0.8293216816453197, 0.4183956538514503]
'pos': [0.11468976722774939, 0.49820734702047975, 0.232304304821942],
'ori': [0.03139065917169165, 0.007114594087226847, 0.7337638657217594, 0.6786417305388762]
},
"grasp_position": {
'pos': [0.15928907070579643, 0.5270829242433969, 0.6510703359003733],
'ori': [0.15023706706737835, -0.32373703396446113, 0.8482916258752815, 0.39118342754871005]
'pos': [0.10651987287035074, 0.4918349678759202, 0.12068363327771679],
'ori': [0.0461769536371005, 0.019808331049769666, 0.7271651527969424, 0.68462117958154]
},
"post_grasp_position": {
'pos': [0.08296640360052251, 0.5270826520836475, 0.4622718470958212],
'ori': [0.15024595915643826, -0.3237308590654784, 0.8482945564918141, 0.3911787674097941]
'pos': [0.10584392070929988, 0.4941985576613782, 0.1688168818859202],
'ori': [0.04549168126833617, 0.01984700639803424, 0.7237928131621344, 0.6882300246917887]
},
"pre_insert_position": {
'pos': [0.08296640360052251, 0.5270826520836475, 0.4622718470958212],
'ori': [0.15024595915643826, -0.3237308590654784, 0.8482945564918141, 0.3911787674097941]
'pos': [0.24027684741261485, 0.49126338168373945, 0.39655250532732794],
'ori': [0.1964966354829754, -0.025599877633873055, 0.6813871431453161, 0.7045887308673521]
},
"insert_position": {
"pos": [0.6, 0.0, 0.2],
"ori_offset": [10, -5, 0],
'pos': [0.27300632591107804, 0.48041141969089585, 0.3049992290184565],
'ori': [0.17245191209515515, 6.719202049935031e-05, 0.7033203128819105, 0.689638217464526]
},
"post_insert_position": {
"pos": [0.6, 0.0, 0.2],
"ori_offset": [10, -5, 0],
'pos': [0.2904632222294866, 0.4869030095129388, 0.1625443919495984],
'ori': [0.20018806753589566, 0.023937708375556675, 0.688796013797962, 0.6963560691988031]
},
}
@ -37,10 +37,17 @@ def main():
#robot.set_joint_maxvelc(3)
#robot.set_end_max_line_velc(0.6)
robot.set_end_max_line_acc(0.8)
robot.move_linear_cartesian(config["pre_grasp_position"])
# robot.move_to_pose(config["pre_grasp_position"])
# robot.move_to_pose(config["grasp_position"])
# robot.move_to_pose(config["post_grasp_position"])
robot.move_to_pose_joint(config["pre_grasp_position"])
robot.move_to_pose_cart(config["grasp_position"])
robot.move_to_pose_joint(config["post_grasp_position"])
robot.move_to_pose_joint(config["pre_insert_position"])
robot.move_to_pose_cart(config["insert_position"])
robot.move_to_pose_cart(config["post_insert_position"])
robot.move_to_pose_cart(config["insert_position"])
robot.move_to_pose_joint(config["pre_insert_position"])
robot.close()