from controller.gripper.gripper_control import Gripper_Controller from controller.ur5.ur_controller import UR_Controller import time import numpy as np urc = UR_Controller() grc = Gripper_Controller() urc.start() grc.start() # pose0 = np.array([-0.252, -0.138, 0.067, 0.013, -2.121, 2.313]) pose0 = np.array([-0.539, 0.312, 0.321, -1.787, -1.604, -0.691]) pose1 = np.array([-0.481, 0.283, 0.359, -1.6, -1.480, -1.031]) pose2 = np.array([-0.481, 0.283, 0.359, -1.216, -1.480, -.8]) # grc.gripper_helper.set_gripper_current_limit(0.4) grc.follow_gripper_pos = 0 # c = input() # grc.follow_gripper_pos = 1 # # # a = 0.05 # v = 0.05 # urc.movel_wait(pose0, a=a, v=v) # # # c = input()
import random from perception.wedge.gelsight.util.Vis3D import ClassVis3D from perception.wedge.gelsight.gelsight_driver import GelSight from controller.gripper.gripper_control import Gripper_Controller from controller.ur5.ur_controller import UR_Controller from controller.mini_robot_arm.RX150_driver import RX150_Driver import keyboard from queue import Queue from logger_class import Logger import collections urc = UR_Controller() grc = Gripper_Controller() urc.start() grc.start() # pose0 = np.array([-0.505-.1693, -0.219, 0.235, -1.129, -1.226, 1.326]) pose0 = np.array([-0.667, -0.196, 0.228, 1.146, -1.237, -1.227]) grc.gripper_helper.set_gripper_current_limit(0.6) rx150 = RX150_Driver(port="/dev/ttyACM0", baudrate=1000000) rx150.torque(enable=1) print(rx150.readpos()) ang = 30 # ang = -90