DevelopmentTeam/MassageRobot_Dobot
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change standby pos

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This commit is contained in:
LiangShiyun 2025-06-07 19:02:06 +08:00
parent 77567391e6
commit 4441f03110
1 changed files with 5 additions and 2 deletions
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7
Massage/MassageControl/hardware/dobot_nova5.py
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@ -152,7 +152,8 @@ class dobot_nova5:
atexit.register(self.exit_task)
self.chooseRightFrame()
self.init_pos = [-45.0009079*np.pi/180,55.5785141*np.pi/180,-120.68821716*np.pi/180,5.11103201*np.pi/180,90.00195312*np.pi/180,-90.00085449*np.pi/180]
self.standby_pos = [-35.0009079*np.pi/180,45.5785141*np.pi/180,-110.68821716*np.pi/180,2.11103201*np.pi/180,80.00195312*np.pi/180,-80.00085449*np.pi/180]
self.standby_pos = [-44.9244*np.pi/180, 29.5429*np.pi/180, -88.4464*np.pi/180, -1.7062*np.pi/180, 87.7421*np.pi/180, -90.0*np.pi/180]
# self.standby_pos = [-35.0009079*np.pi/180,45.5785141*np.pi/180,-110.68821716*np.pi/180,2.11103201*np.pi/180,80.00195312*np.pi/180,-80.00085449*np.pi/180]
self.off_pos = [-44.996*np.pi/180,87.0092*np.pi/180,-147.0087*np.pi/180,-0.0048*np.pi/180,90.0010*np.pi/180,-90.0021*np.pi/180]
self.cam_pose = [-45.0050*np.pi/180,30.0682*np.pi/180,-66.1887*np.pi/180,-21.8836*np.pi/180,-90.3064*np.pi/180,-89.9977*np.pi/180]
self.cam_length = 1.75
@ -940,7 +941,7 @@ if __name__ == "__main__":
time.sleep(1)
print('successs!')
# joint = [-45.0050*np.pi/180,30.0682*np.pi/180,-66.1887*np.pi/180,-21.8836*np.pi/180,-90.3064*np.pi/180,-89.9977*np.pi/180]
# # dobot.move_joint(q = joint)
dobot.move_joint(q = dobot.cam_pose)
# time.sleep(1)
# joint1 = [-44.8416*np.pi/180, 39.5626*np.pi/180, -80.5683*np.pi/180, -18.0396*np.pi/180, -89.4168*np.pi/180, -90.0026*np.pi/180]
@ -956,10 +957,12 @@ if __name__ == "__main__":
while True:
time.sleep(1)
except KeyboardInterrupt:
print("joint:",dobot.getAngel())
# robot_thread.join()
dobot.stop_drag()
print("用户中断操作。")
except Exception as e:
print("joint:",dobot.getAngel())
# robot_thread.join()
dobot.stop_drag()
print("Exception occurred at line:", e.__traceback__.tb_lineno)