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Max Hunt 2020-03-09 16:00:02 +00:00
parent 9a7b3797e2
commit 28d4ced8c1
1 changed files with 1 additions and 1 deletions
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new_main.py
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@ -37,6 +37,7 @@ class PickAndPlace(object): #class that handles moving the robot, gripper and IK
self._verbose = verbose # bool self._verbose = verbose # bool
self._limb = baxter_interface.Limb(limb) self._limb = baxter_interface.Limb(limb)
self._gripper = baxter_interface.Gripper(limb) self._gripper = baxter_interface.Gripper(limb)
self._gripper.calibrate() #Calibrating gripper
ns = "ExternalTools/" + limb + "/PositionKinematicsNode/IKService" ns = "ExternalTools/" + limb + "/PositionKinematicsNode/IKService"
self._iksvc = rospy.ServiceProxy(ns, SolvePositionIK) self._iksvc = rospy.ServiceProxy(ns, SolvePositionIK)
rospy.wait_for_service(ns, 5.0) rospy.wait_for_service(ns, 5.0)
@ -259,7 +260,6 @@ if simulation:
spawn_tables() spawn_tables()
tuck_arms.init_arms() #Makes sure the arms are in known starting place tuck_arms.init_arms() #Makes sure the arms are in known starting place
tuck_arms.init_arms()
left_pnp = PickAndPlace('left') #Limb initializer left_pnp = PickAndPlace('left') #Limb initializer
left_pnp.gripper_open() #Ensures gripper is open before grabbing brick left_pnp.gripper_open() #Ensures gripper is open before grabbing brick