def main(argv): rclpy.init(args=argv) arm = Arm() # set up the approach arm.move_to(+0.2015, +0.1000, +0.0850) arm.open() #capture arm.move_to(+0.2670, +0.1400, +0.0850, accelerate=0.2) arm.close() time.sleep(0.5) #raise arm.move_to(arm.x, arm.y, 0.1000) #celebrate arm.move_to(+0.1943, +0.0000, +0.3000) arm.move_joints(joint4=-0.2000, path_time=0.4) arm.move_joints(joint4=+1.0500, path_time=0.4) arm.move_joints(joint4=-0.2000, path_time=0.4) arm.move_joints(joint4=+1.0500, path_time=0.4) arm.move_joints(joint4=-0.2000, path_time=0.4) arm.move_joints(joint4=+1.0500, path_time=0.4) arm.move_joints(joint1=-0.9127, joint2=+0.9802, joint3=-1.3116, joint4=-0.2654, path_time=1.5) time.sleep(2.0) arm.move_joints(joint1=-0.3022, joint2=-0.7409, joint3=+0.8820, joint4=-0.1488, path_time=1.5) #return to the other side arm.move_to(+0.2670, -0.1400, +0.2000) arm.find_surface() # account for some slack in the arm arm.move_to(arm.x, arm.y, arm.z + 0.0350, accelerate=0.2) arm.move_gripper(0.0000) arm.move_to(+0.2015, -0.1000, arm.z, accelerate=0.2) #go to neutral arm.move_to(+0.2200, +0.0000, +0.1000)
def main(argv): rclpy.init(args=argv) arm = Arm() arm.move_to(+0.2000, +0.0000, +0.2400, accelerate=2.0) arm.move_joints(joint4=+0.7000, path_time=1.0) time.sleep(2.0) arm.move_to(+0.2800, +0.0000, +0.2400, accelerate=0.3) time.sleep(2.0) arm.open() arm.close() arm.open() arm.close() time.sleep(3.0) arm.move_to(+0.1796, +0.0000, +0.1500, accelerate=0.3) time.sleep(3.0) arm.open() arm.close() time.sleep(3.0) # return to neutral arm.move_to(+0.1360, +0.0000, +0.2324, accelerate=0.5)