Init python files

main.py

@@ -0,0 +1,47 @@
+import math
+from utils import RobotClient
+
+HOST = "192.168.3.1"
+PORT = 9090
+
+config = {
+    "pre_grasp_position": {
+        "pos": [0.5, 0.0, 0.3],  # в метрах
+        "ori": [1.0, 0, 0, 0],  # quat wxyz
+    },
+    "grasp_position": {
+        "pos": [0.5, 0.0, 0.3],
+        "ori": [0, 0, 0, 0],  
+    },
+    "post_grasp_position": {
+        "pos": [0.5, 0.0, 0.3],
+        "ori": [0, 0, 0],
+    },
+    "pre_insert_position": {
+        "pos": [0.6, 0.0, 0.2],
+        "ori_offset": [10, -5, 0],  # углы отклонения от вертикали
+    },
+    "insert_position": {
+        "pos": [0.6, 0.0, 0.2],
+        "ori_offset": [10, -5, 0], 
+    },
+    "post_insert_position": {
+        "pos": [0.6, 0.0, 0.2],
+        "ori_offset": [10, -5, 0],
+    },
+}
+
+
+
+
+def main():
+    robot = RobotClient(HOST, PORT)
+    robot.set_joint_maxacc(1.5)
+    robot.set_joint_maxvelc(1.5)
+    robot.move_linear_cartesian(config["pre_grasp_position"])
+    robot.close()
+
+
+
+if __name__ == "__main__":
+    main()