From 3c99c6a59606b0e8737d6fa8eb096425381ad0aa Mon Sep 17 00:00:00 2001
From: Falloimitator <160591701+Falloimitator@users.noreply.github.com>
Date: Fri, 30 May 2025 19:21:09 +0300
Subject: [PATCH] change post_insert_position

---
 main.py | 22 +++++++---------------
 1 file changed, 7 insertions(+), 15 deletions(-)

diff --git a/main.py b/main.py
index 96ee3ef..dd0e03b 100644
--- a/main.py
+++ b/main.py
@@ -24,7 +24,7 @@ config = {
         'pos': [0.18819735499444024, 0.4933238342577449, 0.2803404963272801], 'ori': [0.7110943169204221, -0.6510710114660861, 0.06550934464000123, -0.2572157387036094]
     },
     "post_insert_position": {
-        'pos': [0.20150600619054684, 0.4986867571185973, 0.24683169991220366], 'ori': [0.6922110693388366, -0.6725304109660972, 0.0757396109325311, -0.2506196184386724]
+        'pos': [0.20169439778123938, 0.500739123941044, 0.24626817784478455], 'ori': [0.6923659608846903, -0.672691033511738, 0.07516301662975386, -0.2499333322553135]
     },
     "move_away_position": {
         'pos': [0.06646318981938315, 0.28008362744706417, 0.3081809630089793], 'ori': [0.9557005454147172, 0.023550142689031436, 0.010835030563343097, -0.29319696517193]
@@ -51,20 +51,12 @@ def main():
 
     robot.move_to_pose_joint(config["final_moveaway"])
     robot.move_to_pose_cart(config["pre_grasp_position"])
-    robot.move_to_pose_cart(config["grasp_position"])
-    robot.move_to_pose_cart(config["post_grasp_position"])
-    robot.move_to_pose_cart(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["final_moveaway"])
-
-    # robot.move_to_pose_joint(config["final_moveaway"])
-    # robot.move_to_pose_joint(config["joint_speed_test"])
-    # robot.move_to_pose_joint(config["final_moveaway"])
-    # robot.move_to_pose_joint(config["joint_speed_test"])
-    # robot.move_to_pose_joint(config["final_moveaway"])
-    # robot.move_to_pose_joint(config["joint_speed_test"])
-
+    # robot.move_to_pose_cart(config["grasp_position"])
+    # robot.move_to_pose_cart(config["post_grasp_position"])
+    # robot.move_to_pose_cart(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["final_moveaway"])
 
     robot.close()