movefasta/aubo-old-sdk-test
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change post_insert_position

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Falloimitator 2025-05-30 19:21:09 +03:00
parent 2357251393
commit 3c99c6a596
1 changed files with 7 additions and 15 deletions
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22
main.py
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@ -24,7 +24,7 @@ config = {
'pos': [0.18819735499444024, 0.4933238342577449, 0.2803404963272801], 'ori': [0.7110943169204221, -0.6510710114660861, 0.06550934464000123, -0.2572157387036094] 'pos': [0.18819735499444024, 0.4933238342577449, 0.2803404963272801], 'ori': [0.7110943169204221, -0.6510710114660861, 0.06550934464000123, -0.2572157387036094]
}, },
"post_insert_position": { "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": { "move_away_position": {
'pos': [0.06646318981938315, 0.28008362744706417, 0.3081809630089793], 'ori': [0.9557005454147172, 0.023550142689031436, 0.010835030563343097, -0.29319696517193] '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_joint(config["final_moveaway"])
robot.move_to_pose_cart(config["pre_grasp_position"]) robot.move_to_pose_cart(config["pre_grasp_position"])
robot.move_to_pose_cart(config["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["post_grasp_position"])
robot.move_to_pose_cart(config["pre_insert_position"]) # robot.move_to_pose_cart(config["pre_insert_position"])
robot.move_to_pose_cart(config["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["post_insert_position"])
robot.move_to_pose_cart(config["final_moveaway"]) # 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.close() robot.close()