From cb46ecb4246a0ff49da1494c0a16812e14728784 Mon Sep 17 00:00:00 2001
From: Falloimitator <160591701+Falloimitator@users.noreply.github.com>
Date: Thu, 22 May 2025 13:40:14 +0300
Subject: [PATCH] add poses

---
 main.py | 27 +++++++++++++++------------
 1 file changed, 15 insertions(+), 12 deletions(-)

diff --git a/main.py b/main.py
index 9def543..66aca87 100644
--- a/main.py
+++ b/main.py
@@ -1,25 +1,25 @@
 import math
 from utils import RobotClient
 
-HOST = "192.168.3.1"
+HOST = "192.168.3.2"
 PORT = 9090
 
 config = {
     "pre_grasp_position": {
-        "pos": [0.5, 0.0, 0.3],  # в метрах
-        "ori": [1.0, 0, 0, 0],  # quat wxyz
+        'pos': [0.14726859839859208, 0.5302551637478977, 0.565792932407347],
+        'ori': [0.1305294928324298, -0.34660161091966263, 0.8293216816453197, 0.4183956538514503]
     },
     "grasp_position": {
-        "pos": [0.5, 0.0, 0.3],
-        "ori": [0, 0, 0, 0],  
+        'pos': [0.15928907070579643, 0.5270829242433969, 0.6510703359003733],
+        'ori': [0.15023706706737835, -0.32373703396446113, 0.8482916258752815, 0.39118342754871005]
     },
     "post_grasp_position": {
-        "pos": [0.5, 0.0, 0.3],
-        "ori": [0, 0, 0],
+        'pos': [0.08296640360052251, 0.5270826520836475, 0.4622718470958212],
+        'ori': [0.15024595915643826, -0.3237308590654784, 0.8482945564918141, 0.3911787674097941]
     },
     "pre_insert_position": {
-        "pos": [0.6, 0.0, 0.2],
-        "ori_offset": [10, -5, 0],  # углы отклонения от вертикали
+        'pos': [0.08296640360052251, 0.5270826520836475, 0.4622718470958212],
+        'ori': [0.15024595915643826, -0.3237308590654784, 0.8482945564918141, 0.3911787674097941]
     },
     "insert_position": {
         "pos": [0.6, 0.0, 0.2],
@@ -36,9 +36,12 @@ config = {
 
 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.set_joint_maxacc(2)
+    robot.set_joint_maxvelc(2)
+#    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.close()