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+--- Thread: How lift an object from one side (/Thread-How-lift-an-object-from-one-side)
How lift an object from one side-reza.jahan-06-11-2023
Hello. I want a program in python language where I can grab the side of a rod or object and pull it up from one side so that the other side remains down and actually make a ramp.
I tried one or two methods like setParent, but it raises the whole bar. I appreciate your help and I have attached a screenshot of the station.
RE: How lift an object from one side-Albert-06-12-2023
I don't understand what you mean. Do you want to pick the part and drop it somewhere? Do you have a sample RDK project file you can share?
RE: How lift an object from one side-reza.jahan-06-12-2023
(06-12-2023, 08:09 AM)Albert Wrote:I don't understand what you mean. Do you want to pick the part and drop it somewhere? Do you have a sample RDK project file you can share?
Parden me, i mean, the cobot lifts the bar only slightly from the right side and leave the left side on the ground.
I have written a Python program that lifts the bar from one side and simultaneously The cobot joints move as if it is lifting something. This is a clumsy simulation of lifting the bar from one side.
The program is as follows:
foriinrange(iteration1):
cobot.setJoints([a1[0]+teta1[0]*i, a1[1]+teta1[1]*i, a1[2]+teta1[2]*i, a1[3]+teta1[3]*i, a1[4]+teta1[4]*i, a1[5]+teta1[5]*i])
bar.setPose(transl(0,0,940)*rotx(pi/2*((-i)/200)))# set the pose with respect to the reference
I have attached a photo.
RE: How lift an object from one side-Sam-06-13-2023
The "lazy" way is to create a mechanism that has two rotative axes.
You can then set the elevation pitch and rotation to track your active tool.
This plug-in does something similar:https://github.com/RoboDK/Plug-In-Interface/blob/master/PluginBallbarTracker/PluginBallbarTracker.cpp
The functions used in the plug-in can be ported in Python, some are already available in robolinkutils (//www.sinclairbody.com/doc/en/PythonAPI/robodk.html#robolinkutils-py).