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Max Hunt 2020-02-11 12:52:48 +00:00
parent 3c8e03e8f7
commit 98ee1267a9
2 changed files with 10 additions and 10 deletions
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18
bricks_etc.py
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@ -12,7 +12,7 @@ table = {
} }
bricks_end =[{ bricks_end =[{
'id':'ea1', 'id':'f1',
'rframe':'t1', 'rframe':'t1',
'x':0.46, 'x':0.46,
'y':-0.19, 'y':-0.19,
@ -22,7 +22,7 @@ bricks_end =[{
'yaw':radians(90) 'yaw':radians(90)
}, },
{ {
'id':'ea2', 'id':'f2',
'rframe':'ea1', 'rframe':'ea1',
'x':0, 'x':0,
'y':0, 'y':0,
@ -32,7 +32,7 @@ bricks_end =[{
'yaw':0 'yaw':0
}, },
{ {
'id':'ea3', 'id':'f3',
'rframe':'ea1', 'rframe':'ea1',
'x':0, 'x':0,
'y':0, 'y':0,
@ -42,7 +42,7 @@ bricks_end =[{
'yaw':0 'yaw':0
}, },
{ {
'id':'eb1', 'id':'g1',
'rframe':'ea1', 'rframe':'ea1',
'x':-0.127, 'x':-0.127,
'y':0, 'y':0,
@ -52,7 +52,7 @@ bricks_end =[{
'yaw':0 'yaw':0
}, },
{ {
'id':'eb2', 'id':'g2',
'rframe':'ea1', 'rframe':'ea1',
'x':-0.127, 'x':-0.127,
'y':0, 'y':0,
@ -62,7 +62,7 @@ bricks_end =[{
'yaw':0 'yaw':0
}, },
{ {
'id':'ec1', 'id':'h1',
'rframe':'ea1', 'rframe':'ea1',
'x':-0.254, 'x':-0.254,
'y':0, 'y':0,
@ -72,7 +72,7 @@ bricks_end =[{
'yaw':0 'yaw':0
}, },
{ {
'id':'ec2', 'id':'h2',
'rframe':'ea1', 'rframe':'ea1',
'x':-0.254, 'x':-0.254,
'y':0, 'y':0,
@ -82,7 +82,7 @@ bricks_end =[{
'yaw':0 'yaw':0
}, },
{ {
'id':'ed1', 'id':'i1',
'rframe':'ea1', 'rframe':'ea1',
'x':-0.381, 'x':-0.381,
'y':0, 'y':0,
@ -92,7 +92,7 @@ bricks_end =[{
'yaw':0 'yaw':0
}, },
{ {
'id':'ee1', 'id':'j1',
'rframe':'ea1', 'rframe':'ea1',
'x':-0.508, 'x':-0.508,
'y':0, 'y':0,

2
main.py
View File

@ -266,7 +266,7 @@ if __name__ == "__main__":
left_pick = otc.tf_lookup('a3') left_pick = otc.tf_lookup('a3')
left_pnp.pick(left_pick) left_pnp.pick(left_pick)
left_place_pos = otc.tf_lookup('ea2') left_place_pos = otc.tf_lookup('f2')
# xpos = built_bricks[0] # xpos = built_bricks[0]
# zqtr = quaternion_from_euler(xpos['roll'], xpos['pitch'], xpos['yaw']) # zqtr = quaternion_from_euler(xpos['roll'], xpos['pitch'], xpos['yaw'])