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Max Hunt 2020-02-15 01:29:54 +00:00
parent 9651db5c63
commit 25dc210510
1 changed files with 29 additions and 25 deletions
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54
new_main.py
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@ -160,25 +160,29 @@ def cleanup():
for obj in brick_ids:
delete_model(obj)
def spawn_brick(vertical=True):
def spawn_v_brick():
brick_pose = Pose()
if vertical:
brick_pose.position.x = 0.485
brick_pose.position.y = 0.709
brick_pose.position.z = 0.818
brick_pose.orientation.x = -0.5
brick_pose.orientation.y = 0.5
brick_pose.orientation.z = 0.5
brick_pose.orientation.w = 0.5
else:
brick_pose.position.x = 0.4664
brick_pose.position.y = 0.8069
brick_pose.position.z = 0.7533
brick_pose.orientation.x = 0
brick_pose.orientation.y = 0
brick_pose.orientation.z = 0.707
brick_pose.orientation.w = 0.707
brick_pose.position.x = 0.485
brick_pose.position.y = 0.709
brick_pose.position.z = 0.818
brick_pose.orientation.x = -0.5
brick_pose.orientation.y = 0.5
brick_pose.orientation.z = 0.5
brick_pose.orientation.w = 0.5
brick_reference_frame = 'world'
brick_id = brick_ids.pop()
spawn_sdf(brick_id, brick_sdf, "/", brick_pose, brick_reference_frame)
def spawn_h_brick():
brick_pose = Pose()
brick_pose.position.x = 0.4664
brick_pose.position.y = 0.8069
brick_pose.position.z = 0.7533
brick_pose.orientation.x = 0
brick_pose.orientation.y = 0
brick_pose.orientation.z = 0.707
brick_pose.orientation.w = 0.707
brick_reference_frame = 'world'
brick_id = brick_ids.pop()
spawn_sdf(brick_id, brick_sdf, "/", brick_pose, brick_reference_frame)
@ -194,30 +198,30 @@ hover_distance = 0.2
left_pnp = PickAndPlace('left', hover_distance)
spawn_brick(vertical=True)
spawn_v_brick()
left_pnp.pick(brickstuff[0]['pose'])
left_pnp.place(brickstuff[2]['pose'])
spawn_brick(vertical=True)
spawn_v_brick()
left_pnp.pick(brickstuff[0]['pose'])
left_pnp.place(brickstuff[3]['pose'])
spawn_brick(vertical=True)
spawn_v_brick()
left_pnp.pick(brickstuff[0]['pose'])
left_pnp.place(brickstuff[4]['pose'])
spawn_brick(vertical=False)
spawn_h_brick()
left_pnp.pick(brickstuff[1]['pose'])
left_pnp.place(brickstuff[5]['pose'])
# spawn_brick(vertical=False)
# spawn_h_brick()
# left_pnp.pick(brickstuff[1]['pose'])
# left_pnp.place(brickstuff[6]['pose'])
# spawn_brick(vertical=True)
# spawn_v_brick()
# left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[7]['pose'])
# spawn_brick(vertical=True)
# spawn_v_brick()
# left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[8]['pose'])
# spawn_brick(vertical=False)
# spawn_h_brick()
# left_pnp.pick(brickstuff[1]['pose'])
# left_pnp.place(brickstuff[9]['pose'])
# spawn_brick(vertical=True)
# spawn_v_brick()
# left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[10]['pose'])