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This commit is contained in:
Max Hunt 2020-03-01 22:38:55 +00:00
parent c82de90472
commit 749e111893
2 changed files with 3 additions and 27 deletions
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28
new_main.py
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@ -375,31 +375,7 @@ left_pnp.gripper_open()
left_pnp.send(ta.B_9_za)
left_pnp.send(ta.B_9_zb)
x = raw_input('Ready???')
brick9after2 = Pose()
brick9after2.position.x = 0.635
brick9after2.position.y = 0.4
brick9after2.position.z = 0.5
brick9after2.orientation.x = -0.7071067811865476
brick9after2.orientation.y = -0.7071067811865475
brick9after2.orientation.z = 4.329780281177466e-17
brick9after2.orientation.w = 4.329780281177467e-17
newest = None
newest = left_pnp.ik_request(brick9after2)
print(newest)
if not newest:
newest = left_pnp.ik_request(brick9after2)
if not newest:
newest = left_pnp.ik_request(brick9after2)
if not newest:
newest = left_pnp.ik_request(brick9after2)
if not newest:
newest = left_pnp.ik_request(brick9after2)
if not newest:
newest = left_pnp.ik_request(brick9after2)
left_pnp.send(newest)
left_pnp.send(ta.V_pickup)
left_pnp.send(ta.H_pickup)

2
target_angles.py
View File

@ -46,7 +46,7 @@ B_8_P = {'left_w0': 0.8110423768060999, 'left_w1': 1.472609531372465, 'left_w2':
B_9_A = {'left_w0': 0.35959165932558207, 'left_w1': 1.9280499585601125, 'left_w2': 1.4753075963656614, 'left_e0': -1.014625396487737, 'left_e1': 0.9725959751301161, 'left_s0': -0.03418343328074433, 'left_s1': -1.1722171342836722}
B_9_P = {'left_w0': 0.31592446450227823, 'left_w1': 1.7694573442805632, 'left_w2': 1.4526326487219683, 'left_e0': -1.0428825978748242, 'left_e1': 1.1732291351006587, 'left_s0': 0.05048765124424395, 'left_s1': -1.2037991885581427}
B_9_za = {'left_w0': 0.4224716898888107, 'left_w1': 2.0940001010894775, 'left_w2': 1.5055377828561145, 'left_e0': -0.9718054278924021, 'left_e1': 0.7415823040245637, 'left_s0': -0.1466335135058824, 'left_s1': -1.1271627193043057}
B_9_zb = {}
B_9_zb = {'left_w0': 0.4347300274764977, 'left_w1': 2.0940001010894775, 'left_w2': 1.6022059702674842, 'left_e0': -0.9568544450910222, 'left_e1': 0.7236685435274075, 'left_s0': -0.07853688979435548, 'left_s1': -1.1083415625783348}
# vpk = {'left_w0': 0.4649854934058153, 'left_w1': 1.4526645466391497, 'left_w2': 2.138194707013768, 'left_e0': -0.89929386139053, 'left_e1': 1.2965189348212542, 'left_s0': 0.6436312256143302, 'left_s1': -0.9657905946725601}
# hpk = {'left_w0': 0.3769936175655104, 'left_w1': 1.2305944969345881, 'left_w2': 2.2665093979599353, 'left_e0': -0.5773304857037607, 'left_e1': 1.340754726206522, 'left_s0': 0.5061440970662591, 'left_s1': -0.8921470049131158}
# 1pl = {'left_w0': 1.2027300003884847, 'left_w1': 0.8795510297892881, 'left_w2': 0.5632980390463863, 'left_e0': -0.8960386873043342, 'left_e1': 1.7558376775390683, 'left_s0': -0.31400273801416234, 'left_s1': -0.4013131412149057}