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Max Hunt 2020-03-01 22:51:42 +00:00
parent 749e111893
commit 300d3d7734
1 changed files with 96 additions and 78 deletions
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174
new_main.py
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@ -25,7 +25,7 @@ brickstuff = tps.brick_directions_notf
global sumulation
simulation = True
debug = True
debug = False
class PickAndPlace(object):
def __init__(self, limb, hover_distance = 0.10, verbose=True, speed=0.2, accuracy=baxter_interface.settings.JOINT_ANGLE_TOLERANCE):
@ -217,8 +217,8 @@ def V_Routine():
spawn_v_brick()
left_pnp.send(ta.V_approach)
x = raw_input('Ready?')
if x == 'n':exit(0)
if simulation:
x = raw_input('Ready?')
left_pnp.send(ta.V_pickup)
@ -241,7 +241,8 @@ def V_Routine():
def open_and_wait():
left_pnp.gripper_open()
x = raw_input('Close?')
if simulation:
x = raw_input('Close?')
left_pnp.gripper_close()
time.sleep(0.5)
@ -250,8 +251,8 @@ def H_Routine():
if simulation:
spawn_h_brick()
left_pnp.send(ta.H_approach)
x = raw_input('Ready?')
if x == 'n':exit(0)
if simulation:
x = raw_input('Ready?')
left_pnp.send(ta.H_pickup)
left_pnp.gripper_close()
@ -276,92 +277,92 @@ def H_Routine():
left_pnp.gripper_open()
# V_Routine()
V_Routine()
# left_pnp.send(ta.B_1_A)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.send(ta.B_1_P)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.gripper_open()
left_pnp.send(ta.B_1_A)
if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_1_P)
if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open()
# left_pnp.send(ta.B_1_A)
left_pnp.send(ta.B_1_A)
# V_Routine()
V_Routine()
# left_pnp.send(ta.B_2_A)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.send(ta.B_2_P)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.gripper_open()
# left_pnp.send(ta.B_2_A)
left_pnp.send(ta.B_2_A)
if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_2_P)
if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open()
left_pnp.send(ta.B_2_A)
# V_Routine()
V_Routine()
# left_pnp.send(ta.B_3_A)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.send(ta.B_3_P)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.gripper_open()
# left_pnp.send(ta.B_3_A)
left_pnp.send(ta.B_3_A)
if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_3_P)
if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open()
left_pnp.send(ta.B_3_A)
# H_Routine()
# left_pnp.send(ta.B_4_A)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.send(ta.B_4_P)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.gripper_open()
# left_pnp.send(ta.B_4_A)
H_Routine()
left_pnp.send(ta.B_4_A)
if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_4_P)
if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open()
left_pnp.send(ta.B_4_A)
# H_Routine()
# left_pnp.send(ta.B_5_A)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.send(ta.B_5_P)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.gripper_open()
# left_pnp.send(ta.B_5_A)
H_Routine()
left_pnp.send(ta.B_5_A)
if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_5_P)
if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open()
left_pnp.send(ta.B_5_A)
# V_Routine()
# left_pnp.send(ta.B_6_A)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.send(ta.B_6_P)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.gripper_open()
# left_pnp.send(ta.B_6_A)
V_Routine()
left_pnp.send(ta.B_6_A)
if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_6_P)
if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open()
left_pnp.send(ta.B_6_A)
# V_Routine()
# left_pnp.send(ta.B_7_A)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.send(ta.B_7_P)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.gripper_open()
# left_pnp.send(ta.B_7_A)
V_Routine()
left_pnp.send(ta.B_7_A)
if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_7_P)
if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open()
left_pnp.send(ta.B_7_A)
# H_Routine()
# left_pnp.send(ta.B_8_A)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.send(ta.B_8_P)
# if debug:
# x = raw_input('Continue?: ')
# left_pnp.gripper_open()
# left_pnp.send(ta.B_8_A)
H_Routine()
left_pnp.send(ta.B_8_A)
if debug:
x = raw_input('Continue?: ')
left_pnp.send(ta.B_8_P)
if debug:
x = raw_input('Continue?: ')
left_pnp.gripper_open()
left_pnp.send(ta.B_8_A)
V_Routine()
@ -379,3 +380,20 @@ left_pnp.send(ta.B_9_zb)
left_pnp.send(ta.H_pickup)
time.sleep(1)
print("#################################################################################################################")
print("#...............................................................................................................#")
print("#...............................................................................................................#")
print("#...............................................................................................................#")
print("#.................. ____ _ _ _ _ ____ _ _ _ _ _.................#")
print("#................../ ___| ___ _ __ __| | (_)_ __ | |_| |__ ___ | __ )(_)_ __ __| | | | |................#")
print("#..................\\___ \\ / _ \\ '_ \\ / _` | | | '_ \\ | __| '_ \\ / _ \\ | _ \\| | '__/ _` | | | |................#")
print("#.................. ___) | __/ | | | (_| | | | | | | | |_| | | | __/ | |_) | | | | (_| |_|_|_|................#")
print("#..................|____/ \\___|_| |_|\\__,_| |_|_| |_| \\__|_| |_|\\___| |____/|_|_| \\__,_(_|_|_)................#")
print("#...............................................................................................................#")
print("#...............................................................................................................#")
print("#...............................................................................................................#")
print("#################################################################################################################")