From b33df7a3527c0cf37e0e444995ea46c6cee676a7 Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Tue, 25 Feb 2020 20:28:32 +0000 Subject: [PATCH] Update --- new_main.py | 14 +++++++------- target_angles.py | 8 ++------ 2 files changed, 9 insertions(+), 13 deletions(-) diff --git a/new_main.py b/new_main.py index d55aa54..045d998 100644 --- a/new_main.py +++ b/new_main.py @@ -219,10 +219,9 @@ def H_Routine(): left_pnp.send(ta.H_approach) -V_Routine() +sendy_i = left_pnp.ik_request(tps.brick9after) -sendy_a = left_pnp.ik_request(tps.brick1mid) -left_pnp.send(sendy_a) +V_Routine() left_pnp.send(ta.B_1_A) x = raw_input('Continue?: ') @@ -233,9 +232,6 @@ left_pnp.send(ta.B_1_A) V_Routine() -sendy_c = left_pnp.ik_request(tps.brick3mid) -left_pnp.send(sendy_c) - left_pnp.send(ta.B_2_A) x = raw_input('Continue?: ') left_pnp.send(ta.B_2_P) @@ -244,7 +240,11 @@ left_pnp.gripper_open() left_pnp.send(ta.B_2_A) V_Routine() -left_pnp.send(ta.B_3_A) + +sendy_c = left_pnp.ik_request(tps.brick3mid) +left_pnp.send(sendy_c) + +# left_pnp.send(ta.B_3_A) x = raw_input('Continue?: ') left_pnp.send(ta.B_3_P) x = raw_input('Continue?: ') diff --git a/target_angles.py b/target_angles.py index 54e6a56..a207715 100644 --- a/target_angles.py +++ b/target_angles.py @@ -27,15 +27,11 @@ V_approach = {'left_w0': 0.309347832698974, 'left_w1': 1.881132793719985, 'left_ V_pickup = {'left_w0': 0.4649854934058153, 'left_w1': 1.4526645466391497, 'left_w2': 2.138194707013768, 'left_e0': -0.89929386139053, 'left_e1': 1.2965189348212542, 'left_s0': 0.6436312256143302, 'left_s1': -0.9657905946725601} H_approach = {'left_w0': 0.8139517749899786, 'left_w1': 1.7913332347783784, 'left_w2': 2.140253332470379, 'left_e0': -1.2881506550429311, 'left_e1': 0.9559160919794364, 'left_s0': 0.718405344706577, 'left_s1': -0.7389057972202023} H_pickup = {'left_w0': 0.3769936175655104, 'left_w1': 1.2305944969345881, 'left_w2': 2.2665093979599353, 'left_e0': -0.5773304857037607, 'left_e1': 1.340754726206522, 'left_s0': 0.5061440970662591, 'left_s1': -0.8921470049131158} - -B_1_A = {'left_w0': -0.24575885307317663, 'left_w1': 0.8749420307826046, 'left_w2': 1.6948949798814181, 'left_e0': 0.4583130030868797, 'left_e1': 1.8748037298799984, 'left_s0': -1.240546397484759, 'left_s1': -1.1229907414393936} - +B_1_A = {'left_w0': 0.3683595432180659, 'left_w1': 1.0073947297368873, 'left_w2': 1.4922663329618713, 'left_e0': -0.6981937871209174, 'left_e1': 1.7725718324276292, 'left_s0': -0.02681867720576004, 'left_s1': -1.0771623491525488} B_1_P = {'left_w0': 1.2027300003884847, 'left_w1': 0.8795510297892881, 'left_w2': 0.5632980390463863, 'left_e0': -0.8960386873043342, 'left_e1': 1.7558376775390683, 'left_s0': -0.31400273801416234, 'left_s1': -0.4013131412149057} B_2_A = {'left_w0': 1.0334701994763147, 'left_w1': 1.2668145176284678, 'left_w2': 0.9572318887458758, 'left_e0': -1.3409238316370244, 'left_e1': 1.7778524701894391, 'left_s0': 0.2271848446398137, 'left_s1': -0.573105088634528} B_2_P = {'left_w0': 1.2915396241568844, 'left_w1': 0.964866770561432, 'left_w2': 0.8596545556176473, 'left_e0': -0.991322423912265, 'left_e1': 1.7633745271360939, 'left_s0': 0.07709549283393327, 'left_s1': -0.33774783820639565} - -B_3_A = {'left_w0': 0.803725300735474, 'left_w1': 1.194163188977739, 'left_w2': 1.4667013915694584, 'left_e0': -1.0771478530987262, 'left_e1': 1.58481527249928, 'left_s0': 0.3549391390860414, 'left_s1': -0.7083016536375286} - +B_3_A = {'left_w0': 0.38514804257024, 'left_w1': 1.3493922072473135, 'left_w2': 1.8528906271986112, 'left_e0': -0.7444640494545234, 'left_e1': 1.3645927871927572, 'left_s0': 0.24106113760478542, 'left_s1': -1.0003944199987056} B_3_P = {'left_w0': 1.1424562096018538, 'left_w1': 0.995761483224297, 'left_w2': 1.3813210747199685, 'left_e0': -0.9434785814973881, 'left_e1': 1.5257241802006776, 'left_s0': 0.30682480243089416, 'left_s1': -0.3342487874061004} B_4_A = {'left_w0': 0.1671234856733194, 'left_w1': 0.8261944766180188, 'left_w2': 1.379487069256468, 'left_e0': -0.28247213805949767, 'left_e1': 1.8837252545953784, 'left_s0': -0.607713162458475, 'left_s1': -1.1163951963030918} B_4_P = {'left_w0': 0.24419474317602866, 'left_w1': 0.6290231193065527, 'left_w2': 1.326407292573995, 'left_e0': -0.23303382594081024, 'left_e1': 1.8771117428607849, 'left_s0': -0.6460371665357855, 'left_s1': -0.9078139028116797}