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This commit is contained in:
Max Hunt 2020-02-25 20:28:32 +00:00
parent e9dead21af
commit b33df7a352
2 changed files with 9 additions and 13 deletions
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14
new_main.py
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@ -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?: ')

8
target_angles.py
View File

@ -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}