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Max Hunt 2020-02-13 14:17:58 +00:00
parent 1e6133bb0b
commit 63846ec226
2 changed files with 16 additions and 16 deletions
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6
bricks_etc.py
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@ -15,12 +15,12 @@ table = {
bricks_end =[{ bricks_end =[{
'id':'f1', 'id':'f1',
'rframe':'t1', 'rframe':'t1',
'x':0.06, 'x':0.0,
'y':-0.24, 'y':0.0,
'z':0.822, 'z':0.822,
'roll':0, 'roll':0,
'pitch':radians(90), 'pitch':radians(90),
'yaw':radians(90) 'yaw':0
}, },
{ {
'id':'f2', 'id':'f2',

26
main.py
View File

@ -247,17 +247,17 @@ if __name__ == "__main__":
right_pose.orientation.z = -0.00737916180073 right_pose.orientation.z = -0.00737916180073
right_pose.orientation.w = 0.00486450832011 right_pose.orientation.w = 0.00486450832011
left_pnp = PickAndPlace('left', hover_distance) # left_pnp = PickAndPlace('left', hover_distance)
right_pnp = PickAndPlace('right', hover_distance) # right_pnp = PickAndPlace('right', hover_distance)
# Go to initial position # # Go to initial position
left_pnp.move_to_start(left_pnp.ik_request(left_pose)) # left_pnp.move_to_start(left_pnp.ik_request(left_pose))
right_pnp.move_to_start(right_pnp.ik_request(right_pose)) # right_pnp.move_to_start(right_pnp.ik_request(right_pose))
load_objects() load_objects()
print("loaded all objects, starting tf service thread") # print("loaded all objects, starting tf service thread")
tf_service(init=True) # tf_service(init=True)
###################################HACKING BEGIN ###################################HACKING BEGIN
# for i in range(0, 5): # for i in range(0, 5):
@ -271,14 +271,14 @@ if __name__ == "__main__":
# print() # print()
# print() # print()
left_pick = otc.tf_lookup('a1') # left_pick = otc.tf_lookup('a1')
left_pick.position.z+=0.05 # left_pick.position.z+=0.05
left_pnp.pick(left_pick) # left_pnp.pick(left_pick)
left_place = otc.tf_lookup('f2') # left_place = otc.tf_lookup('f2')
left_place.position.z+=0.05 # left_place.position.z+=0.05
left_pnp.place(left_place) # left_pnp.place(left_place)