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This commit is contained in:
Max Hunt 2020-02-13 11:34:15 +00:00
parent bdb436a3ab
commit be63a50cc9
2 changed files with 24 additions and 23 deletions
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43
main.py
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@ -247,12 +247,12 @@ if __name__ == "__main__":
right_pose.orientation.z = -0.00737916180073
right_pose.orientation.w = 0.00486450832011
# left_pnp = PickAndPlace('left', hover_distance)
# right_pnp = PickAndPlace('right', hover_distance)
left_pnp = PickAndPlace('left', hover_distance)
right_pnp = PickAndPlace('right', hover_distance)
# Go to initial position
# left_pnp.move_to_start(left_pnp.ik_request(left_pose))
# right_pnp.move_to_start(right_pnp.ik_request(right_pose))
Go to initial position
left_pnp.move_to_start(left_pnp.ik_request(left_pose))
right_pnp.move_to_start(right_pnp.ik_request(right_pose))
load_objects()
@ -260,24 +260,25 @@ if __name__ == "__main__":
tf_service(init=True)
###################################HACKING BEGIN
for i in range(0, 5):
print()
otc.tf_lookup('a1')
print()
print()
for i in range(0, 5):
print()
otc.tf_lookup('f2')
print()
print()
# left_pick = otc.tf_lookup('a1')
# left_pick.position.z+=0.5
# left_pnp.pick(left_pick)
# for i in range(0, 5):
# print()
# otc.tf_lookup('a1')
# print()
# print()
# for i in range(0, 5):
# print()
# otc.tf_lookup('f2')
# print()
# print()
left_pick = otc.tf_lookup('a1')
left_pick.position.z+=0.5
left_pnp.pick(left_pick)
# left_place = otc.tf_lookup('f2')
# left_pick.position.z+=0.5
# left_pnp.place(left_place)
left_place = otc.tf_lookup('f2')
left_pick.position.z+=0.5
left_pnp.place(left_place)

4
object_tf_client.py
View File

@ -19,9 +19,9 @@ def tf_lookup(object_name):
continue
object_angles = tf.transformations.euler_from_quaternion([rot[3] , rot[0], rot[1], rot[2]], axes='sxyz')
xangle = object_angles[0] + radians(200.569)# + radians(77.878)
xangle = object_angles[0] + radians(205.569)# + radians(77.878)
xangle1 = object_angles[1] + radians(90)
xangle2 = object_angles[2] + radians(-200.569)
xangle2 = object_angles[2] + radians(-205.569)
object_angles = (xangle, xangle1, xangle2)
print("Angles:")
print(xangle)