From 4c31dc9cf34c902c5fa34c81a25ced188f1c4261 Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Mon, 9 Mar 2020 16:02:30 +0000 Subject: [PATCH] Update --- new_main.py | 3 +-- target_angles.py | 27 +++++++++++++++------------ 2 files changed, 16 insertions(+), 14 deletions(-) diff --git a/new_main.py b/new_main.py index c98aa5c..48348a2 100755 --- a/new_main.py +++ b/new_main.py @@ -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: diff --git a/target_angles.py b/target_angles.py index 2ad227a..4ca5512 100644 --- a/target_angles.py +++ b/target_angles.py @@ -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 } ] \ No newline at end of file