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This commit is contained in:
Max Hunt 2020-02-13 10:52:41 +00:00
parent 31af586411
commit 93c0087f78
2 changed files with 14 additions and 9 deletions
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4
bricks_etc.py
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@ -300,7 +300,7 @@ bricks_start_v2 =[{
}] }]
def getBuildable(): def getBuildable():
return bricks_start_v1 return bricks_start_v2
def getAll(): def getAll():
return bricks_start_v2+bricks_start_v1+bricks_end+[table] return bricks_start_v2+bricks_start_v1+bricks_end+[table]
@ -313,7 +313,7 @@ def getTargets():
def getNodes(): def getNodes():
nodes = ['baxter::base', 't1::Table'] nodes = ['baxter::base', 't1::Table']
for obj in bricks_start_v1 + 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)

19
main.py
View File

@ -260,17 +260,22 @@ if __name__ == "__main__":
tf_service(init=True) tf_service(init=True)
###################################HACKING BEGIN ###################################HACKING BEGIN
for i in range(0, 5):
print()
otc.tf_lookup('a1')
left_pick = otc.tf_lookup('a3') print()
print()
otc.tf_lookup('f2')
print()
print()
# left_pick = otc.tf_lookup('a1')
# left_pick.position.z+=0.5 # left_pick.position.z+=0.5
left_pnp.pick(left_pick) # left_pnp.pick(left_pick)
left_place = otc.tf_lookup('f2') # left_place = otc.tf_lookup('f2')
# left_pick.position.z+=0.5 # left_pick.position.z+=0.5
left_pnp.place(left_place) # left_pnp.place(left_place)