## Understanding of "UR5withRG2Grasping.ttt"

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alix
Posts: 62
Joined: 17 Sep 2019, 14:48

### Understanding of "UR5withRG2Grasping.ttt"

Hi everyone.
I am a beginner to Vrep. I want to do a pick and place task similar to "UR5withRG2Grasping.ttt". I want to know what are these and how it is getting these :

Code: Select all

pickConfig={-70.1*math.pi/180,18.85*math.pi/180,93.18*math.pi/180,68.02*math.pi/180,109.9*math.pi/180,90*math.pi/180}
dropConfig1={-183.34*math.pi/180,14.76*math.pi/180,78.26*math.pi/180,-2.98*math.pi/180,-90.02*math.pi/180,86.63*math.pi/180}
dropConfig2={-197.6*math.pi/180,14.76*math.pi/180,78.26*math.pi/180,-2.98*math.pi/180,-90.02*math.pi/180,72.38*math.pi/180}
dropConfig3={-192.1*math.pi/180,3.76*math.pi/180,91.16*math.pi/180,-4.9*math.pi/180,-90.02*math.pi/180,-12.13*math.pi/180}
dropConfig4={-189.38*math.pi/180,24.94*math.pi/180,64.36*math.pi/180,0.75*math.pi/180,-90.02*math.pi/180,-9.41*math.pi/180}

Well i can see that is sort of conversions from degrees to radians, but why are they 6 in count, and what they describe, and how do we got these values ???
If someone can suggest any explanation or tutorial of this particular scene.
Thanks a lot.

fferri
Posts: 598
Joined: 09 Sep 2013, 19:28

### Re: Understanding of "UR5withRG2Grasping.ttt"

dropConfigN is the targetPos argument (that is: the desired target positions of the joints) passed to sim.rmlMoveToJointPositions

alix
Posts: 62
Joined: 17 Sep 2019, 14:48

### Re: Understanding of "UR5withRG2Grasping.ttt"

fferri wrote:
17 Sep 2019, 17:52
dropConfigN is the targetPos argument passed to sim.rmlMoveToJointPositions
Yes it is, but how do we derive these numericals values???

fferri
Posts: 598
Joined: 09 Sep 2013, 19:28

### Re: Understanding of "UR5withRG2Grasping.ttt"

It's the angle of the joints.
You can move joints manually or via IK, then you can read the angle in degrees in the main view, when the object info is expanded.