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Max Hunt 2020-03-09 16:02:30 +00:00
parent 4b8d7eb7b2
commit 4c31dc9cf3
2 changed files with 16 additions and 14 deletions
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3
new_main.py
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@ -26,7 +26,7 @@ import target_angles as ta
#^Importing essential libraries for ROS and motion planning and running for the main script^
simulation = True #Flag for spawning objects in the gazebo if the script is running in a simulation
debug = True #Flag for asking confirmation before robot performs key maneuvers
debug = False #Flag for asking confirmation before robot performs key maneuvers
class PickAndPlace(object): #class that handles moving the robot, gripper and IK
def __init__(self, limb, hover_distance = 0.10, verbose=True, speed=0.2, accuracy=baxter_interface.settings.JOINT_ANGLE_TOLERANCE):
@ -232,7 +232,6 @@ def H_Routine(limb):
limb.goto(ta.H_approach)
def process(limb, step):
print(step)
if step['vertical'] == True:
V_Routine(limb)
else:

27
target_angles.py
View File

@ -1,7 +1,7 @@
V_approach = {'left_w0': 0.309347832698974, 'left_w1': 1.881132793719985, 'left_w2': 2.3018260606950194, 'left_e0': -0.6620952326288202, 'left_e1': 0.8506124094054622, 'left_s0': 0.4467327362087081, 'left_s1': -1.0924293648582206}
V_pickup = {'left_w0': 0.4649854934058153, 'left_w1': 1.4526645466391497, 'left_w2': 2.138194707013768, 'left_e0': -0.89929386139053, 'left_e1': 1.2965189348212542, 'left_s0': 0.6436312256143302, 'left_s1': -0.9657905946725601}
V_placeup = {'left_w0': 0.4649854934058153, 'left_w1': 1.4526645466391497, 'left_w2': 2.138194707013768, 'left_e0': -0.89929386139053, 'left_e1': 1.2965189348212542, 'left_s0': 0.6436312256143302, 'left_s1': -0.9657905946725601}
H_approach = {'left_w0': 0.8139517749899786, 'left_w1': 1.7913332347783784, 'left_w2': 2.140253332470379, 'left_e0': -1.2881506550429311, 'left_e1': 0.9559160919794364, 'left_s0': 0.718405344706577, 'left_s1': -0.7389057972202023}
H_pickup = {'left_w0': 0.3769936175655104, 'left_w1': 1.2305944969345881, 'left_w2': 2.2665093979599353, 'left_e0': -0.5773304857037607, 'left_e1': 1.340754726206522, 'left_s0': 0.5061440970662591, 'left_s1': -0.8921470049131158}
H_placeup = {'left_w0': 0.3769936175655104, 'left_w1': 1.2305944969345881, 'left_w2': 2.2665093979599353, 'left_e0': -0.5773304857037607, 'left_e1': 1.340754726206522, 'left_s0': 0.5061440970662591, 'left_s1': -0.8921470049131158}
B_1_A = {'left_w0': 0.3683595432180659, 'left_w1': 1.0073947297368873, 'left_w2': 1.4922663329618713, 'left_e0': -0.6981937871209174, 'left_e1': 1.7725718324276292, 'left_s0': -0.02681867720576004, 'left_s1': -1.0771623491525488}
B_1_P = {'left_w0': 1.2027300003884847, 'left_w1': 0.8795510297892881, 'left_w2': 0.5632980390463863, 'left_e0': -0.8960386873043342, 'left_e1': 1.7558376775390683, 'left_s0': -0.31400273801416234, 'left_s1': -0.4013131412149057}
B_2_A = {'left_w0': 1.0334701994763147, 'left_w1': 1.2668145176284678, 'left_w2': 0.9572318887458758, 'left_e0': -1.3409238316370244, 'left_e1': 1.7778524701894391, 'left_s0': 0.2271848446398137, 'left_s1': -0.573105088634528}
@ -27,64 +27,67 @@ instructions = [
{
'step':1,
'hover':B_1_A,
'pick':B_1_P,
'place':B_1_P,
'vertical':True,
'lastBrick':False
},
{
'step':2,
'hover':B_2_A,
'pick':B_2_P,
'place':B_2_P,
'vertical':True,
'lastBrick':False
},
{
'step':3,
'hover':B_3_A,
'pick':B_3_P,
'place':B_3_P,
'vertical':True,
'lastBrick':False
},
{
'step':4,
'hover':B_4_A,
'pick':B_4_P,
'place':B_4_P,
'vertical':False,
'lastBrick':False
},
{
'step':5,
'hover':B_5_A,
'pick':B_5_P,
'place':B_5_P,
'vertical':False,
'lastBrick':False
},
{
'step':6,
'hover':B_6_A,
'pick':B_6_P,
'place':B_6_P,
'vertical':True,
'lastBrick':False
},
{
'step':7,
'hover':B_7_A,
'pick':B_7_P,
'place':B_7_P,
'vertical':True,
'lastBrick':False
},
{
'step':8,
'hover':B_8_A,
'pick':B_8_P,
'place':B_8_P,
'vertical':False,
'lastBrick':False
},
{
'step':9,
'hover':B_9_A,
'pick':B_9_P,
'place':B_9_P,
'vertical':True,
'lastBrick':True
'lastBrick':True,
'last1':B_9_za,
'last2':B_9_zb,
'last3':H_pickup
}
]