max/robotics
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update

Browse Source
This commit is contained in:
Max Hunt 2020-02-12 22:23:57 +00:00
parent 1d01c81e7e
commit 78f3a08725
2 changed files with 17 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
bricks_etc.py
View File

@ -197,7 +197,7 @@ target_positions = [{
'yaw':0
}]
bricks_start =[{
bricks_start_v1 =[{
'id':'a1',
'rframe':'t1',
'x':-0.419,
@ -288,11 +288,22 @@ bricks_start =[{
# 'yaw':0
# }]
bricks_start_v2 =[{
'id':'a1',
'rframe':'t1',
'x':-0.219,
'y':0.134,
'z':0.770,
'roll':0,
'pitch':0,
'yaw':radians(90)
}]
def getBuildable():
return bricks_start
return bricks_start_v2
def getAll():
return bricks_start+bricks_end+[table]
return bricks_start_v2+bricks_end+[table]
def getTable():
return table
@ -302,7 +313,7 @@ def getTargets():
def getNodes():
nodes = ['baxter::base', 't1::Table']
for obj in bricks_start + bricks_end:
for obj in bricks_start_v2 + bricks_end:
name = obj['id']
node_name = name+'::Brick'
nodes.append(node_name)

4
main.py
View File

@ -263,8 +263,8 @@ if __name__ == "__main__":
left_pick = otc.tf_lookup('a3')
left_pick.position.x -= 0.0
left_pick = otc.tf_lookup('a1')
left_pick.position.x -= 0.05
left_pnp.pick(left_pick)
left_place_pos = otc.tf_lookup('h2')