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Max Hunt 2020-02-08 17:52:43 +00:00
parent 6658237490
commit 11568a025d
1 changed files with 11 additions and 0 deletions
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11
main.py
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@ -397,3 +397,14 @@ right_pnp = PickAndPlace('right', hover_distance)
left_pnp.move_to_start(left_pnp.ik_request(left_pose)) left_pnp.move_to_start(left_pnp.ik_request(left_pose))
right_pnp.move_to_start(right_pnp.ik_request(right_pose)) right_pnp.move_to_start(right_pnp.ik_request(right_pose))
pose1 = Pose()
pose1.position = Point(x=bricks_start[0]['x'], y=bricks_start[0]['y'], z=bricks_start[0]['z'])
hqo = quaternion_from_euler(bricks_start[0]['roll'], bricks_start[0]['pitch'], bricks_start[0]['yaw'])
pose1.orientation.orientation = Quaternion(hqo[0], hqo[1], hqo[2], hqo[3])
right_pnp.move_to_start(right_pnp.ik_request(pose1))