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Max Hunt 2020-02-15 01:16:57 +00:00
parent 5bbf222d52
commit 1e32d0124a
1 changed files with 8 additions and 6 deletions
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14
new_main.py
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@ -165,15 +165,15 @@ def spawn_brick(vertical=True):
if vertical: if vertical:
brick_pose.position.x = 0.4788 brick_pose.position.x = 0.4788
brick_pose.position.y = 0.7106 brick_pose.position.y = 0.7106
brick_pose.position.z = 0.821 brick_pose.position.z = xx
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
brick_pose.orientation.w = 0.707 brick_pose.orientation.w = 0.707
else: else:
brick_pose.position.x = 0.4847 brick_pose.position.x = 0.4664
brick_pose.position.y = 0.7127 brick_pose.position.y = 0.8069
brick_pose.position.z = 0.9 brick_pose.position.z = 0.7533
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
@ -186,6 +186,8 @@ def spawn_brick(vertical=True):
rospy.init_node("I_still_have_some_hope") # Am I wrong?? rospy.init_node("I_still_have_some_hope") # Am I wrong??
cleanup()
tuck_arms.init_arms() tuck_arms.init_arms()
hover_distance = 0.2 hover_distance = 0.2
@ -193,7 +195,7 @@ 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'])
@ -202,7 +204,7 @@ left_pnp = PickAndPlace('left', hover_distance)
# 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'])