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This commit is contained in:
Max Hunt 2020-02-15 02:08:51 +00:00
parent 82c4864849
commit a2c60bacf9
2 changed files with 5 additions and 4 deletions
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7
new_main.py
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@ -177,7 +177,7 @@ def etq(roll, pitch, yaw):
def spawn_v_brick(): def spawn_v_brick():
brick_pose = Pose() brick_pose = Pose()
brick_pose.position.x = 0.485 brick_pose.position.x = 0.485
brick_pose.position.y = 0.709 brick_pose.position.y = 0.759
brick_pose.position.z = 0.818 brick_pose.position.z = 0.818
QUATS = etq(0, 1.57, 1.57) QUATS = etq(0, 1.57, 1.57)
brick_pose.orientation.x = QUATS[0] brick_pose.orientation.x = QUATS[0]
@ -206,13 +206,14 @@ rospy.init_node("I_still_have_some_hope") # Am I wrong??
cleanup() cleanup()
tuck_arms.init_arms() # tuck_arms.init_arms()
hover_distance = 0.2 hover_distance = 0.2
left_pnp = PickAndPlace('left', hover_distance) # left_pnp = PickAndPlace('left', hover_distance)
spawn_v_brick() spawn_v_brick()
exit(0)
left_pnp.pick(brickstuff[0]['pose']) left_pnp.pick(brickstuff[0]['pose'])
left_pnp.place(brickstuff[2]['pose']) left_pnp.place(brickstuff[2]['pose'])
spawn_v_brick() spawn_v_brick()

2
target_poses.py
View File

@ -27,7 +27,7 @@ from geometry_msgs.msg import (PoseStamped, Pose, Point, Quaternion)
startv = Pose() startv = Pose()
startv.position.x = 0.474 startv.position.x = 0.474
startv.position.y = 0.708 startv.position.y = 0.759
startv.position.z = 0.204 startv.position.z = 0.204
startv.orientation.x = -0.7071067811865476 startv.orientation.x = -0.7071067811865476
startv.orientation.y = -0.7071067811865475 startv.orientation.y = -0.7071067811865475