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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
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19
bricks_etc.py
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@ -197,7 +197,7 @@ target_positions = [{
'yaw':0 'yaw':0
}] }]
bricks_start =[{ bricks_start_v1 =[{
'id':'a1', 'id':'a1',
'rframe':'t1', 'rframe':'t1',
'x':-0.419, 'x':-0.419,
@ -288,11 +288,22 @@ bricks_start =[{
# 'yaw':0 # '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(): def getBuildable():
return bricks_start return bricks_start_v2
def getAll(): def getAll():
return bricks_start+bricks_end+[table] return bricks_start_v2+bricks_end+[table]
def getTable(): def getTable():
return table return table
@ -302,7 +313,7 @@ def getTargets():
def getNodes(): def getNodes():
nodes = ['baxter::base', 't1::Table'] nodes = ['baxter::base', 't1::Table']
for obj in bricks_start + bricks_end: for obj in bricks_start_v2 + bricks_end:
name = obj['id'] name = obj['id']
node_name = name+'::Brick' node_name = name+'::Brick'
nodes.append(node_name) nodes.append(node_name)

4
main.py
View File

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