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This commit is contained in:
Max Hunt 2020-02-15 01:06:34 +00:00
parent a9900d350b
commit 17bf63de79
2 changed files with 6 additions and 6 deletions
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10
new_main.py
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@ -163,9 +163,9 @@ def cleanup():
def spawn_brick(vertical=True): def spawn_brick(vertical=True):
brick_pose = Pose() brick_pose = Pose()
if vertical: if vertical:
brick_pose.position.x = 0.483 brick_pose.position.x = 0.4788
brick_pose.position.y = 0.7067 brick_pose.position.y = 0.7106
brick_pose.position.z = 0.8576 brick_pose.position.z = 0.821
brick_pose.orientation.x = 0 brick_pose.orientation.x = 0
brick_pose.orientation.y = 0.707 brick_pose.orientation.y = 0.707
brick_pose.orientation.z = 0 brick_pose.orientation.z = 0
@ -187,7 +187,7 @@ left_pnp = PickAndPlace('left', hover_distance)
# spawn_brick(vertical=True) # spawn_brick(vertical=True)
left_pnp.pick(brickstuff[0]['pose']) # left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[2]['pose']) # left_pnp.place(brickstuff[2]['pose'])
# spawn_brick(vertical=True) # spawn_brick(vertical=True)
# left_pnp.pick(brickstuff[0]['pose']) # left_pnp.pick(brickstuff[0]['pose'])
@ -196,7 +196,7 @@ left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.pick(brickstuff[0]['pose']) # left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[4]['pose']) # left_pnp.place(brickstuff[4]['pose'])
# spawn_brick(vertical=False) # spawn_brick(vertical=False)
# left_pnp.pick(brickstuff[1]['pose']) left_pnp.pick(brickstuff[1]['pose'])
# left_pnp.place(brickstuff[5]['pose']) # left_pnp.place(brickstuff[5]['pose'])
# spawn_brick(vertical=False) # spawn_brick(vertical=False)
# left_pnp.pick(brickstuff[1]['pose']) # left_pnp.pick(brickstuff[1]['pose'])

2
redundant/brick_data.py
View File

@ -24,7 +24,7 @@ def etq(roll, pitch, yaw):
def q_extrapolator(obj): def q_extrapolator(obj):
return obj.orientation.x, obj.orientation.y, obj.orientation.z, obj.orientation.w 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) exit(0)