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This commit is contained in:
Max Hunt 2020-02-17 12:36:17 +00:00
parent b13dd31a86
commit 90bad673ff
2 changed files with 21 additions and 7 deletions
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12
brick/model.sdf
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@ -7,10 +7,10 @@
<pose frame=''> 0 0 0.0 -0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.00002</ixx>
<ixx>0.000002</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00002</iyy>
<iyy>0.000002</iyy>
<iyz>0</iyz>
<izz>0</izz>
</inertia>
@ -25,8 +25,8 @@
<surface>
<friction>
<ode>
<mu>100000</mu>
<mu2>10000</mu2>
<mu>1000000</mu>
<mu2>100000</mu2>
<fdir1>0 0 1</fdir1>
<slip1>0.7</slip1>
<slip2>0.7</slip2>
@ -34,8 +34,8 @@
</friction>
<contact>
<ode>
<kp>10000.000000</kp>
<kd>10000.00000</kd>
<kp>100000.000000</kp>
<kd>1000000.00000</kd>
<max_vel>20.000000</max_vel>
<min_depth>0.0001</min_depth>
</ode>

16
new_main.py
View File

@ -146,6 +146,20 @@ class PickAndPlace(object):
# retract to clear object
self._retract()
def cust_place(self, pose):
# servo above pose
approach = copy.deepcopy(pose)
# approach with a pose the hover-distance above the requested pose
approach.position.z = approach.position.z + 0.1
joint_angles = self.ik_request(approach)
self._guarded_move_to_joint_position(joint_angles)
# servo to pose
self._servo_to_pose(pose)
# open the gripper
self.gripper_open()
# retract to clear object
self._retract()
brick_ids = ['b1','b2','b3','b4','b5','b6','b7','b8','b9']
@ -251,4 +265,4 @@ left_pnp.place(brickstuff[9]['pose'])
paused = raw_input('Continue?')
spawn_v_brick()
left_pnp.pick(brickstuff[0]['pose'])
left_pnp.place(brickstuff[10]['pose'])
left_pnp.cust_place(brickstuff[10]['pose'])