From 17bf63de7980cd959647b674f13aba1bdb61c53b Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Sat, 15 Feb 2020 01:06:34 +0000 Subject: [PATCH] Update --- new_main.py | 10 +++++----- redundant/brick_data.py | 2 +- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/new_main.py b/new_main.py index f657651..a87ef9b 100644 --- a/new_main.py +++ b/new_main.py @@ -163,9 +163,9 @@ def cleanup(): def spawn_brick(vertical=True): brick_pose = Pose() if vertical: - brick_pose.position.x = 0.483 - brick_pose.position.y = 0.7067 - brick_pose.position.z = 0.8576 + brick_pose.position.x = 0.4788 + brick_pose.position.y = 0.7106 + brick_pose.position.z = 0.821 brick_pose.orientation.x = 0 brick_pose.orientation.y = 0.707 brick_pose.orientation.z = 0 @@ -187,7 +187,7 @@ left_pnp = PickAndPlace('left', hover_distance) # spawn_brick(vertical=True) -left_pnp.pick(brickstuff[0]['pose']) +# left_pnp.pick(brickstuff[0]['pose']) # left_pnp.place(brickstuff[2]['pose']) # spawn_brick(vertical=True) # left_pnp.pick(brickstuff[0]['pose']) @@ -196,7 +196,7 @@ left_pnp.pick(brickstuff[0]['pose']) # left_pnp.pick(brickstuff[0]['pose']) # left_pnp.place(brickstuff[4]['pose']) # spawn_brick(vertical=False) -# left_pnp.pick(brickstuff[1]['pose']) +left_pnp.pick(brickstuff[1]['pose']) # left_pnp.place(brickstuff[5]['pose']) # spawn_brick(vertical=False) # left_pnp.pick(brickstuff[1]['pose']) diff --git a/redundant/brick_data.py b/redundant/brick_data.py index 7e949b0..dedb723 100644 --- a/redundant/brick_data.py +++ b/redundant/brick_data.py @@ -24,7 +24,7 @@ def etq(roll, pitch, yaw): def q_extrapolator(obj): return obj.orientation.x, obj.orientation.y, obj.orientation.z, obj.orientation.w -print(etq(-0.2347, 1.5707, -0.2347)) +print(etq(0, 1.5707, 0)) exit(0)