movefasta/aubo-old-sdk-test
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add poses

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Falloimitator 2025-05-22 13:40:14 +03:00
parent 506e32b74f
commit cb46ecb424
1 changed files with 15 additions and 12 deletions
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27
main.py
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@ -1,25 +1,25 @@
import math import math
from utils import RobotClient from utils import RobotClient
HOST = "192.168.3.1" HOST = "192.168.3.2"
PORT = 9090 PORT = 9090
config = { config = {
"pre_grasp_position": { "pre_grasp_position": {
"pos": [0.5, 0.0, 0.3], # в метрах 'pos': [0.14726859839859208, 0.5302551637478977, 0.565792932407347],
"ori": [1.0, 0, 0, 0], # quat wxyz 'ori': [0.1305294928324298, -0.34660161091966263, 0.8293216816453197, 0.4183956538514503]
}, },
"grasp_position": { "grasp_position": {
"pos": [0.5, 0.0, 0.3], 'pos': [0.15928907070579643, 0.5270829242433969, 0.6510703359003733],
"ori": [0, 0, 0, 0], 'ori': [0.15023706706737835, -0.32373703396446113, 0.8482916258752815, 0.39118342754871005]
}, },
"post_grasp_position": { "post_grasp_position": {
"pos": [0.5, 0.0, 0.3], 'pos': [0.08296640360052251, 0.5270826520836475, 0.4622718470958212],
"ori": [0, 0, 0], 'ori': [0.15024595915643826, -0.3237308590654784, 0.8482945564918141, 0.3911787674097941]
}, },
"pre_insert_position": { "pre_insert_position": {
"pos": [0.6, 0.0, 0.2], 'pos': [0.08296640360052251, 0.5270826520836475, 0.4622718470958212],
"ori_offset": [10, -5, 0], # углы отклонения от вертикали 'ori': [0.15024595915643826, -0.3237308590654784, 0.8482945564918141, 0.3911787674097941]
}, },
"insert_position": { "insert_position": {
"pos": [0.6, 0.0, 0.2], "pos": [0.6, 0.0, 0.2],
@ -36,9 +36,12 @@ config = {
def main(): def main():
robot = RobotClient(HOST, PORT) robot = RobotClient(HOST, PORT)
robot.set_joint_maxacc(1.5) robot.set_joint_maxacc(2)
robot.set_joint_maxvelc(1.5) robot.set_joint_maxvelc(2)
robot.move_linear_cartesian(config["pre_grasp_position"]) # 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() robot.close()