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This commit is contained in:
Max Hunt 2020-02-15 15:41:47 +00:00
parent 92d160a4ed
commit 6540bee9bc
2 changed files with 6 additions and 9 deletions
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8
brick/model.sdf
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@ -25,8 +25,8 @@
<surface> <surface>
<friction> <friction>
<ode> <ode>
<mu>1000</mu> <mu>1</mu>
<mu2>500</mu2> <mu2>1</mu2>
<fdir1>0 0 1</fdir1> <fdir1>0 0 1</fdir1>
<slip1>0.4</slip1> <slip1>0.4</slip1>
<slip2>0.4</slip2> <slip2>0.4</slip2>
@ -34,8 +34,8 @@
</friction> </friction>
<contact> <contact>
<ode> <ode>
<kp>100000.000000</kp> <kp>100.000000</kp>
<kd>100.00000</kd> <kd>1.00000</kd>
<max_vel>20.000000</max_vel> <max_vel>20.000000</max_vel>
<min_depth>0.0001</min_depth> <min_depth>0.0001</min_depth>
</ode> </ode>

7
new_main.py
View File

@ -61,9 +61,6 @@ class PickAndPlace(object):
resp_seeds = struct.unpack('<%dB' % len(resp.result_type), resp.result_type) resp_seeds = struct.unpack('<%dB' % len(resp.result_type), resp.result_type)
limb_joints = {} limb_joints = {}
if (resp_seeds[0] != resp.RESULT_INVALID): if (resp_seeds[0] != resp.RESULT_INVALID):
print()
print(resp_seeds)
print()
seed_str = { seed_str = {
ikreq.SEED_USER: 'User Provided Seed', ikreq.SEED_USER: 'User Provided Seed',
ikreq.SEED_CURRENT: 'Current Joint Angles', ikreq.SEED_CURRENT: 'Current Joint Angles',
@ -84,8 +81,8 @@ class PickAndPlace(object):
def _guarded_move_to_joint_position(self, joint_angles): def _guarded_move_to_joint_position(self, joint_angles):
if joint_angles: if joint_angles:
# self._limb.set_joint_position_speed(1.5) self._limb.set_joint_position_speed(0.1)
self._limb.move_to_joint_positions(joint_angles)#, timeout=20.0, threshold=self._accuracy) self._limb.move_to_joint_positions(joint_angles, timeout=20.0, threshold=self._accuracy)
else: else:
rospy.logerr("No Joint Angles provided for move_to_joint_positions. Staying put.") rospy.logerr("No Joint Angles provided for move_to_joint_positions. Staying put.")