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This commit is contained in:
Max Hunt 2020-02-15 14:33:41 +00:00
parent 981005ccdb
commit 581270b069
1 changed files with 4 additions and 3 deletions
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7
new_main.py
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@ -21,7 +21,7 @@ import tuck_arms
brickstuff = tps.brick_directions_notf brickstuff = tps.brick_directions_notf
class PickAndPlace(object): 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._speed = speed
self._accuracy = accuracy self._accuracy = accuracy
self._limb_name = limb # string self._limb_name = limb # string
@ -208,9 +208,10 @@ cleanup()
tuck_arms.init_arms() tuck_arms.init_arms()
hover_distance = 0.2 hover_distance = 0.2
left_pnp = PickAndPlace('left', hover_distance, speed=0.3) left_pnp = PickAndPlace('left', hover_distance)
## TODO: MAKE hover_distance higher for place part or solve IK collision error
spawn_v_brick() spawn_v_brick()
left_pnp.pick(brickstuff[0]['pose']) left_pnp.pick(brickstuff[0]['pose'])