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Max Hunt 2020-02-15 01:01:26 +00:00
parent 173014379e
commit a9900d350b
1 changed files with 5 additions and 5 deletions
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new_main.py
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@ -133,10 +133,10 @@ class PickAndPlace(object):
self._servo_to_pose(pose) self._servo_to_pose(pose)
print('Ready to grip') print('Ready to grip')
# close gripper # close gripper
self.gripper_close() # //self.gripper_close()
print('grip') print('grip')
# retract to clear object # retract to clear object
self._retract() # //self._retract()
def place(self, pose): def place(self, pose):
# servo above pose # servo above pose
@ -186,9 +186,9 @@ hover_distance = 0.2
left_pnp = PickAndPlace('left', hover_distance) left_pnp = PickAndPlace('left', hover_distance)
spawn_brick(vertical=True) # spawn_brick(vertical=True)
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_brick(vertical=True) # spawn_brick(vertical=True)
# left_pnp.pick(brickstuff[0]['pose']) # left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[3]['pose']) # left_pnp.place(brickstuff[3]['pose'])
@ -196,7 +196,7 @@ left_pnp.place(brickstuff[2]['pose'])
# left_pnp.pick(brickstuff[0]['pose']) # left_pnp.pick(brickstuff[0]['pose'])
# left_pnp.place(brickstuff[4]['pose']) # left_pnp.place(brickstuff[4]['pose'])
# spawn_brick(vertical=False) # spawn_brick(vertical=False)
left_pnp.pick(brickstuff[1]['pose']) # left_pnp.pick(brickstuff[1]['pose'])
# left_pnp.place(brickstuff[5]['pose']) # left_pnp.place(brickstuff[5]['pose'])
# spawn_brick(vertical=False) # spawn_brick(vertical=False)
# left_pnp.pick(brickstuff[1]['pose']) # left_pnp.pick(brickstuff[1]['pose'])