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上传新流程下的点位和作业流程100

master
Lizongdi 3 weeks ago
parent
51487ce194
commit
afc2f8ecd2
2 changed files with 234 additions and 159 deletions
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  1. 4
      kelaifen/Kelaifen_V6.0/program_config.py
  2. 389
      kelaifen/Kelaifen_V6.0/trajectory_data.py

4
kelaifen/Kelaifen_V6.0/program_config.py
View File

@ -2,7 +2,7 @@ import json
from trajectory_program import (
program1, program1_1, program2, program3, program3_1, program4,
program5, program5_1, program6, program7, program7_1, program8,
program9, program10, program11, program12
program9, program10, program11, program12, program100
)
program_switch = {
@ -14,7 +14,7 @@ program_switch = {
4: program4,
5: program5,
500: program5_1,
6: program6,
6: program100,
7: program7,
700: program7_1,
8: program8,

389
kelaifen/Kelaifen_V6.0/trajectory_data.py
View File

@ -94,7 +94,7 @@ Pose_1 = [
[476.18, 958.93, 483.84, -3.1202, -0.030478, -0.91844],
[461.77, 972.7, 485.5, -3.1202, -0.030478, -0.91844],
[447.36, 986.46, 487.16, -3.1202, -0.030478, -0.91844],
[432.95, 1000.2, 488.82, -3.1202, -0.030478, -0.91844],
[432.95, 1.2, 488.82, -3.1202, -0.030478, -0.91844],
[418.54, 1014, 490.48, -3.1202, -0.030478, -0.91844],
[404.12, 1027.8, 492.14, -3.1202, -0.030478, -0.91844],
[389.71, 1041.5, 493.8, -3.1202, -0.030478, -0.91844],
@ -317,161 +317,161 @@ Pose_2 = [
]
joint_positions_assembled_2 = [[92.442,-41.967,60.096,-110.133,90.041,11.741]]
Pose_3 = [
[1549.9, -66.747, 564.95, 3.1398, 0.034928, -1.5584],
[1549.9, -66.747, 564.95, 3.1398, 0.034929, -1.558],
[1549.9, -66.747, 564.95, 3.14, 0.034937, -1.5534],
[1549.9, -66.747, 564.95, 3.1403, 0.03495, -1.544],
[1549.9, -66.747, 564.95, 3.1408, 0.034964, -1.5301],
[1549.9, -66.747, 564.95, 3.1415, 0.034973, -1.5114],
[1549.9, -66.747, 564.95, -3.1409, 0.034966, -1.4882],
[1549.9, -66.747, 564.95, -3.1399, 0.034933, -1.4602],
[1549.9, -66.747, 564.95, -3.1388, 0.034861, -1.4276],
[1549.9, -66.747, 564.95, -3.1375, 0.034732, -1.3904],
[1549.9, -66.747, 564.95, -3.1361, 0.03453, -1.3484],
[1549.5, -66.359, 564.95, -3.1345, 0.034239, -1.3025],
[1547.7, -64.638, 564.84, -3.1329, 0.03387, -1.2559],
[1544.4, -61.541, 564.58, -3.1313, 0.033428, -1.2093],
[1539.7, -57.066, 564.14, -3.1298, 0.032914, -1.1628],
[1533.6, -51.215, 563.54, -3.1282, 0.032328, -1.1162],
[1526, -43.987, 562.77, -3.1268, 0.031672, -1.0696],
[1517, -35.383, 561.84, -3.1253, 0.030947, -1.0231],
[1506.6, -25.401, 560.74, -3.1239, 0.030156, -0.97652],
[1494.7, -14.043, 559.48, -3.1225, 0.029299, -0.92996],
[1481.4, -1.3082, 558.05, -3.1212, 0.028379, -0.88341],
[1467, 12.416, 556.45, -3.1205, 0.027896, -0.86013],
[1452.6, 26.184, 554.79, -3.1205, 0.027896, -0.86013],
[1438.2, 39.951, 553.13, -3.1205, 0.027896, -0.86013],
[1423.8, 53.719, 551.47, -3.1205, 0.027896, -0.86013],
[1409.3, 67.486, 549.81, -3.1205, 0.027896, -0.86013],
[1394.9, 81.254, 548.15, -3.1205, 0.027896, -0.86013],
[1380.5, 95.021, 546.49, -3.1205, 0.027896, -0.86013],
[1366.1, 108.79, 544.84, -3.1205, 0.027896, -0.86013],
[1351.7, 122.56, 543.17, -3.1205, 0.027896, -0.86013],
[1337.3, 136.32, 541.51, -3.1205, 0.027896, -0.86013],
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[1308.5, 163.86, 538.2, -3.1205, 0.027896, -0.86013],
[1294.1, 177.63, 536.54, -3.1205, 0.027896, -0.86013],
[1279.7, 191.39, 534.88, -3.1205, 0.027896, -0.86013],
[1265.2, 205.16, 533.22, -3.1205, 0.027896, -0.86013],
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[1236.4, 232.7, 529.9, -3.1205, 0.027896, -0.86013],
[1222, 246.46, 528.24, -3.1205, 0.027896, -0.86013],
[1204, 263.67, 526.58, -3.1205, 0.027896, -0.86013],
[1189.6, 277.44, 524.5, -3.1205, 0.027896, -0.86013],
[1175.2, 291.21, 522.84, -3.1205, 0.027896, -0.86013],
[1160.8, 304.98, 521.18, -3.1205, 0.027896, -0.86013],
[1146.3, 318.74, 519.52, -3.1205, 0.027896, -0.86013],
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[1103.1, 360.05, 514.55, -3.1205, 0.027896, -0.86013],
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[1016.6, 442.65, 504.59, -3.1205, 0.027896, -0.86013],
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[987.8, 470.18, 501.27, -3.1205, 0.027896, -0.86013],
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[958.98, 497.72, 497.95, -3.1205, 0.027896, -0.86013],
[944.57, 511.49, 496.29, -3.1205, 0.027896, -0.86013],
[930.16, 525.25, 494.63, -3.1205, 0.027896, -0.86013],
[915.75, 539.02, 492.97, -3.1205, 0.027896, -0.86013],
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[838.37, 612.94, 495.01, -3.1205, 0.027896, -0.86013],
[823.96, 626.71, 493.35, -3.1205, 0.027896, -0.86013],
[809.55, 640.47, 491.69, -3.1205, 0.027896, -0.86013],
[795.14, 654.24, 490.03, -3.1205, 0.027896, -0.86013],
[780.73, 668.01, 488.37, -3.1205, 0.027896, -0.86013],
[766.31, 681.77, 486.71, -3.1205, 0.027896, -0.86013],
[751.9, 695.54, 485.05, -3.1205, 0.027896, -0.86013],
[737.49, 709.31, 483.39, -3.1205, 0.027896, -0.86013],
[723.08, 723.08, 481.73, -3.1205, 0.027896, -0.86013],
[708.67, 736.85, 480.07, -3.1205, 0.027896, -0.86013],
[694.25, 750.61, 478.41, -3.1205, 0.027896, -0.86013],
[679.84, 764.38, 476.75, -3.1205, 0.027896, -0.86013],
[665.43, 778.15, 475.09, -3.1205, 0.027896, -0.86013],
[651.02, 791.91, 473.43, -3.1205, 0.027896, -0.86013],
[636.61, 805.68, 471.77, -3.1205, 0.027896, -0.86013],
[622.2, 819.45, 470.11, -3.1205, 0.027896, -0.86013],
[607.78, 833.22, 468.45, -3.1205, 0.027896, -0.86013],
[593.37, 846.99, 466.79, -3.1205, 0.027896, -0.86013],
[578.96, 860.75, 465.13, -3.1205, 0.027896, -0.86013],
[564.55, 874.52, 463.47, -3.1205, 0.027896, -0.86013],
[550.14, 888.29, 461.81, -3.1205, 0.027896, -0.86013],
[535.72, 902.05, 460.15, -3.1205, 0.027896, -0.86013],
[521.31, 915.82, 458.49, -3.1205, 0.027896, -0.86013],
[506.9, 929.59, 456.83, -3.1205, 0.027896, -0.86013],
[492.49, 943.36, 455.17, -3.1205, 0.027896, -0.86013],
[478.08, 957.12, 453.51, -3.1205, 0.027896, -0.86013],
[463.67, 970.89, 451.86, -3.1205, 0.027896, -0.86013],
[449.25, 984.66, 450.19, -3.1205, 0.027896, -0.86013],
[434.84, 998.43, 448.54, -3.1205, 0.027896, -0.86013],
[420.43, 1012.2, 446.88, -3.1205, 0.027896, -0.86013],
[406.02, 1026, 445.22, -3.1205, 0.027896, -0.86013],
[391.61, 1039.7, 443.56, -3.1205, 0.027896, -0.86013],
[377.19, 1053.5, 441.9, -3.1205, 0.027896, -0.86013],
[362.78, 1067.3, 440.24, -3.1205, 0.027896, -0.86013],
[348.37, 1081, 438.58, -3.1205, 0.027896, -0.86013],
[333.96, 1094.8, 436.92, -3.1205, 0.027896, -0.86013],
[319.55, 1108.6, 435.26, -3.1205, 0.027896, -0.86013],
[305.13, 1122.3, 433.6, -3.1205, 0.027896, -0.86013],
[290.72, 1136.1, 431.94, -3.1205, 0.027896, -0.86013],
[276.31, 1149.9, 430.28, -3.1205, 0.027896, -0.86013],
[261.9, 1163.6, 428.62, -3.1205, 0.027896, -0.86013],
[247.49, 1177.4, 426.96, -3.1205, 0.027896, -0.86013],
[233.07, 1191.2, 425.3, -3.1205, 0.027896, -0.86013],
[218.66, 1204.9, 423.64, -3.1205, 0.027896, -0.86013],
[204.25, 1218.7, 421.98, -3.1205, 0.027896, -0.86013],
[189.84, 1232.5, 420.32, -3.1205, 0.027896, -0.86013],
[175.43, 1246.2, 418.66, -3.1205, 0.027896, -0.86013],
[161.02, 1260, 417, -3.1205, 0.027896, -0.86013],
[146.6, 1273.8, 415.34, -3.1205, 0.027896, -0.86013],
[132.19, 1287.5, 413.68, -3.1205, 0.027896, -0.86013],
[117.78, 1301.3, 412.02, -3.1205, 0.027896, -0.86013],
[99.766, 1318.5, 409.95, -3.1205, 0.027896, -0.86013],
[85.354, 1332.3, 408.29, -3.1205, 0.027896, -0.86013],
[70.942, 1346.1, 406.63, -3.1205, 0.027896, -0.86013],
[56.53, 1359.8, 404.97, -3.1205, 0.027896, -0.86013],
[42.118, 1373.6, 403.31, -3.1205, 0.027896, -0.86013],
[27.706, 1387.4, 401.65, -3.1205, 0.027896, -0.86013],
[13.295, 1401.1, 399.99, -3.1205, 0.027896, -0.86013],
[-1.1172, 1414.9, 398.33, -3.1205, 0.027896, -0.86013],
[-15.529, 1428.7, 396.67, -3.1205, 0.027896, -0.86013],
[-29.941, 1442.4, 395.01, -3.1205, 0.027896, -0.86013],
[-44.353, 1456.2, 393.35, -3.1205, 0.027896, -0.86013],
[-58.765, 1470, 391.69, -3.1205, 0.027896, -0.86013],
[-73.176, 1483.7, 390.03, -3.1205, 0.027896, -0.86013],
[-87.588, 1497.5, 388.37, -3.1205, 0.027896, -0.86013],
[-102, 1511.3, 386.71, -3.1205, 0.027896, -0.86013],
[-116.41, 1525, 385.05, -3.1205, 0.027896, -0.86013],
[-130.82, 1538.8, 383.39, -3.1205, 0.027896, -0.86013],
[-145.24, 1552.6, 381.74, -3.1205, 0.027896, -0.86013],
[-159.6, 1566.3, 380.08, -3.12, 0.027526, -0.84279],
[-172.93, 1579, 378.55, -3.1182, 0.026015, -0.77558],
[-184.82, 1590.4, 377.18, -3.1166, 0.024474, -0.71188],
[-195.27, 1600.4, 375.97, -3.1152, 0.022926, -0.65167],
[-204.28, 1609, 374.94, -3.1139, 0.021392, -0.59495],
[-211.84, 1616.2, 374.06, -3.1128, 0.01989, -0.54173],
[-217.97, 1622, 373.36, -3.1119, 0.018435, -0.492],
[-222.65, 1626.5, 372.82, -3.1111, 0.017042, -0.44576],
[-225.9, 1629.6, 372.45, -3.1103, 0.01572, -0.40302],
[-227.7, 1631.3, 372.24, -3.1098, 0.014482, -0.36376],
[-228.1, 1631.7, 372.19, -3.1093, 0.013334, -0.328],
[-228.1, 1631.7, 372.19, -3.1088, 0.012284, -0.29572],
[-228.1, 1631.7, 372.19, -3.1085, 0.011336, -0.26694],
[-228.1, 1631.7, 372.19, -3.1082, 0.010495, -0.24164],
[-228.1, 1631.7, 372.19, -3.108, 0.0097651, -0.21984],
[-228.1, 1631.7, 372.19, -3.1078, 0.0091482, -0.20152],
[-228.1, 1631.7, 372.19, -3.1077, 0.0086465, -0.18669],
[-228.1, 1631.7, 372.19, -3.1076, 0.0082616, -0.17536],
[-228.1, 1631.7, 372.19, -3.1075, 0.0079945, -0.16751],
[-228.1, 1631.7, 372.19, -3.1075, 0.0078459, -0.16315],
[-228.1, 1631.7, 372.19, -3.1075, 0.0078124, -0.16216]
]
joint_positions_assembled_3 = [[-8.437,-52.830,64.769,-101.519,91.959,-9.155]]
Pose_4 = [
@ -631,4 +631,79 @@ Pose_4 = [
[1549.9, -66.747, 360.2, 3.1398, 0.034929, -1.558],
[1549.9, -66.747, 360.2, 3.1398, 0.034928, -1.5584]
]
joint_positions_assembled_4 = [[92.553,-45.178,53.196,-97.284,97.995,15.177]]
joint_positions_assembled_4 = [[92.553,-45.178,53.196,-97.284,97.995,15.177]]
Pose_3_4 = [
[-228.1, 1631.7, 370.4375, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 370.4375, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 370.4375, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 370.4375, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 370.4375, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 370.4375, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 380.6750, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 390.9125, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 401.1500, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 411.3875, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 421.6250, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 431.8625, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 442.1, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 452.3375, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 462.5750, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 472.8125, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 483.0500, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 493.2875, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 503.5250, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 513.7625, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 524.0, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 534.2375, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 544.4750, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 554.7125, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 564.9500, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 564.9500, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 564.9500, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 564.9500, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 564.9500, -3.1075, 0.0078, -0.1622],
[-228.1, 1631.7, 564.9500, -3.1075, 0.0078, -0.1622]
]
Pose_4_3 = [
[1549.9, -66.7470, 370.4375, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 370.4375, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 370.4375, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 370.4375, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 370.4375, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 370.4375, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 380.6750, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 390.9125, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 401.1500, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 411.3875, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 421.6250, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 431.8625, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 442.1, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 452.3375, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 462.5750, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 472.8125, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 483.0500, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 493.2875, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 503.5250, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 513.7625, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 524.0, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 534.2375, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 544.4750, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 554.7125, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 564.9500, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 564.9500, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 564.9500, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 564.9500, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 564.9500, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 564.9500, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 564.9500, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 564.9500, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 564.9500, 3.1398, 0.0349, -1.5584],
[1549.9, -66.7470, 564.9500, 3.1398, 0.0349, -1.5584]
]

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