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This commit is contained in:
Max Hunt 2020-02-15 01:11:29 +00:00
parent df9c13798e
commit 5bbf222d52
2 changed files with 3 additions and 3 deletions
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4
new_main.py
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@ -193,7 +193,7 @@ left_pnp = PickAndPlace('left', hover_distance)
# spawn_brick(vertical=True) # spawn_brick(vertical=True)
left_pnp.pick(brickstuff[0]['pose']) # left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[2]['pose']) # left_pnp.place(brickstuff[2]['pose'])
# spawn_brick(vertical=True) # spawn_brick(vertical=True)
# left_pnp.pick(brickstuff[0]['pose']) # left_pnp.pick(brickstuff[0]['pose'])
@ -202,7 +202,7 @@ left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.pick(brickstuff[0]['pose']) # left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[4]['pose']) # left_pnp.place(brickstuff[4]['pose'])
# spawn_brick(vertical=False) # spawn_brick(vertical=False)
# left_pnp.pick(brickstuff[1]['pose']) left_pnp.pick(brickstuff[1]['pose'])
# left_pnp.place(brickstuff[5]['pose']) # left_pnp.place(brickstuff[5]['pose'])
# spawn_brick(vertical=False) # spawn_brick(vertical=False)
# left_pnp.pick(brickstuff[1]['pose']) # left_pnp.pick(brickstuff[1]['pose'])

2
target_poses.py
View File

@ -28,7 +28,7 @@ from geometry_msgs.msg import (PoseStamped, Pose, Point, Quaternion)
startv = Pose() startv = Pose()
startv.position.x = 0.474 startv.position.x = 0.474
startv.position.y = 0.708 startv.position.y = 0.708
startv.position.z = 0.254 startv.position.z = 0.204
startv.orientation.x = -0.7071067811865476 startv.orientation.x = -0.7071067811865476
startv.orientation.y = -0.7071067811865475 startv.orientation.y = -0.7071067811865475
startv.orientation.z = 4.329780281177466e-17 startv.orientation.z = 4.329780281177466e-17