44 lines
1.2 KiB
Python
44 lines
1.2 KiB
Python
import math
|
|
|
|
DEBUG = True
|
|
|
|
# IP of the robot.
|
|
UR5_IP = "129.241.187.119"
|
|
|
|
# Enables force constraints on the tool. Note: Setting this to "True" involves
|
|
# polling the UR5 through a real-time monitor that runs at 125Hz. If the controller
|
|
# runs slow, try disabling this first.
|
|
USE_FORCE_MONITOR = True
|
|
|
|
# Control parameters.
|
|
VELOCITY = 0.1
|
|
ACCELERATION = 0.5
|
|
DECELERATION = 0.5
|
|
|
|
# Block parameters
|
|
BLOCK_DIM = 0.1 #TODO measure
|
|
|
|
# Table polar parameters
|
|
TABLE_QUADRANT = 3 # In range [0..4). Quadrant 0 is along the x-axis of the robot.
|
|
TABLE_ORIGO_OFFSET = -0.25 # TODO measure
|
|
TABLE_EDGE_LEFT = -math.pi/4
|
|
TABLE_EDGE_RIGHT = math.pi/4
|
|
R_MIN = 0.6 # relative to TABLE center
|
|
R_MAX = 0.9 # relative to TABLE center
|
|
|
|
# Table height parameters (TODO CHECK THESE)
|
|
Z_TABLE = -0.337
|
|
Z_MIN = Z_TABLE + BLOCK_DIM/2
|
|
Z_MAX = Z_MIN + 5*BLOCK_DIM
|
|
|
|
|
|
# Home quadrant joint configuration.
|
|
# We need this expressed in joint space to ensure that the robot does not
|
|
# collide with itself when moving to the base configuration.
|
|
QUADRANT_JOINT_CONFIG = [TABLE_QUADRANT*math.pi/2,
|
|
-3*math.pi/4,
|
|
-3*math.pi/4,
|
|
-math.pi/2,
|
|
-math.pi/2,
|
|
math.pi]
|