From 581270b0691c3dbdbfadc952a6ad62792575f574 Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Sat, 15 Feb 2020 14:33:41 +0000 Subject: [PATCH] Update --- new_main.py | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) diff --git a/new_main.py b/new_main.py index 6b7a8d3..28f5882 100644 --- a/new_main.py +++ b/new_main.py @@ -21,7 +21,7 @@ import tuck_arms brickstuff = tps.brick_directions_notf class PickAndPlace(object): - def __init__(self, limb, hover_distance = 0.10, verbose=True, speed=0.9, accuracy=baxter_interface.settings.JOINT_ANGLE_TOLERANCE): + def __init__(self, limb, hover_distance = 0.10, verbose=True, speed=0.2, accuracy=baxter_interface.settings.JOINT_ANGLE_TOLERANCE): self._speed = speed self._accuracy = accuracy self._limb_name = limb # string @@ -208,9 +208,10 @@ cleanup() tuck_arms.init_arms() -hover_distance = 0.2 -left_pnp = PickAndPlace('left', hover_distance, speed=0.3) +hover_distance = 0.2 +left_pnp = PickAndPlace('left', hover_distance) +## TODO: MAKE hover_distance higher for place part or solve IK collision error spawn_v_brick() left_pnp.pick(brickstuff[0]['pose'])