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Max Hunt 2020-02-10 23:53:33 +00:00
parent fc29584cf3
commit 9aafff307b
2 changed files with 101 additions and 5 deletions
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91
bricks_etc.py
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@ -102,6 +102,97 @@ bricks_end =[{
'yaw':0 'yaw':0
}] }]
target_positions = [{
'num':1,
'rframe':'t1',
'x':0.46,
'y':-0.19,
'z':0.822,
'roll':0,
'pitch':-1.570796,
'yaw':radians(90)
},
{
'num':2,
'rframe':'a1',
'x':0,
'y':0,
'z':-0.186,
'roll':0,
'pitch':0,
'yaw':0
},
{
'num':3,
'rframe':'a1',
'x':0,
'y':0,
'z':-0.372,
'roll':0,
'pitch':0,
'yaw':0
},
{
'num':4,
'rframe':'a1',
'x':0.127,
'y':0,
'z':-0.085,
'roll':0,
'pitch':1.57,
'yaw':0
},
{
'num':5,
'rframe':'a1',
'x':0.127,
'y':0,
'z':-0.287,
'roll':0,
'pitch':1.57,
'yaw':0
},
{
'num':6,
'rframe':'a1',
'x':0.254,
'y':0,
'z':-0.093,
'roll':0,
'pitch':0,
'yaw':0
},
{
'num':7,
'rframe':'a1',
'x':0.254,
'y':0,
'z':-0.287,
'roll':0,
'pitch':0,
'yaw':0
},
{
'num':8,
'rframe':'a1',
'x':0.381,
'y':0,
'z':-0.186,
'roll':0,
'pitch':1.57,
'yaw':0
},
{
'num':9,
'rframe':'a1',
'x':0.508,
'y':0,
'z':-0.186,
'roll':0,
'pitch':0,
'yaw':0
}]
bricks_start =[{ bricks_start =[{
'id':'a1', 'id':'a1',
'rframe':'t1', 'rframe':'t1',

15
main.py
View File

@ -55,7 +55,7 @@ class PickAndPlace(object):
start_angles = dict(zip(self._joint_names, [0]*7)) start_angles = dict(zip(self._joint_names, [0]*7))
self._guarded_move_to_joint_position(start_angles) self._guarded_move_to_joint_position(start_angles)
self.gripper_open() self.gripper_open()
rospy.sleep(1.0) rospy.sleep(0.2)
print("Running. Ctrl-c to quit") print("Running. Ctrl-c to quit")
def ik_request(self, pose): def ik_request(self, pose):
@ -100,11 +100,11 @@ class PickAndPlace(object):
def gripper_open(self): def gripper_open(self):
self._gripper.open() self._gripper.open()
rospy.sleep(1.0) rospy.sleep(0.2)
def gripper_close(self): def gripper_close(self):
self._gripper.close() self._gripper.close()
rospy.sleep(1.0) rospy.sleep(0.2)
def _approach(self, pose): def _approach(self, pose):
approach = copy.deepcopy(pose) approach = copy.deepcopy(pose)
@ -251,8 +251,13 @@ if __name__ == "__main__":
left_test = otc.tf_lookup('a3') left_pick = otc.tf_lookup('a3')
left_pnp.pick(left_test) left_pnp.pick(left_pick)
left_place_pre = otc.tf_lookup('t1')
print()
print(left_place_pre)
print()
####################################HACKING END ####################################HACKING END