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This commit is contained in:
Max Hunt 2020-02-11 00:19:31 +00:00
parent e473077f7a
commit c41511ac68
2 changed files with 12 additions and 11 deletions
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7
bricks_etc.py
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@ -11,7 +11,7 @@ table = {
'yaw':radians(90)
}
bricks_end =[{
bricks_end =[{ #DO NOT USE THIS
'id':'ea1',
'rframe':'t1',
'x':0.46,
@ -105,10 +105,11 @@ bricks_end =[{
target_positions = [{
'num':1,
'rframe':'t1',
'x':0.46,
# 'x':0.46,
'x':0.2,
# 'y':-0.19,
'y':0.2,
'z':0.822,
'z':0.9,
'roll':0,
# 'pitch':-1.570796,
'pitch':0,

16
main.py
View File

@ -255,19 +255,19 @@ if __name__ == "__main__":
left_pick = otc.tf_lookup('a3')
left_pnp.pick(left_pick)
left_place_pre = otc.tf_lookup('a1')
left_place_pre = otc.tf_lookup('t1')
xpos = brick_targets[0]
zqtr = quaternion_from_euler(xpos['roll'], xpos['pitch'], xpos['yaw'])
left_place_pos = Pose()
left_place_pos.position.x = left_place_pre.position.x + 0.1 #xpos['x']
left_place_pos.position.y = left_place_pre.position.y + 0.1 #xpos['y']
left_place_pos.position.z = left_place_pre.position.z + 0.1 #xpos['z']
left_place_pos.orientation.x = left_place_pre.orientation.x #+ zqtr[0]
left_place_pos.orientation.y = left_place_pre.orientation.y #+ zqtr[1]
left_place_pos.orientation.z = left_place_pre.orientation.z #+ zqtr[2]
left_place_pos.orientation.w = left_place_pre.orientation.w #+ zqtr[3]
left_place_pos.position.x = left_place_pre.position.x + xpos['x']
left_place_pos.position.y = left_place_pre.position.y + xpos['y']
left_place_pos.position.z = left_place_pre.position.z + xpos['z']
left_place_pos.orientation.x = left_place_pre.orientation.x + zqtr[0]
left_place_pos.orientation.y = left_place_pre.orientation.y + zqtr[1]
left_place_pos.orientation.z = left_place_pre.orientation.z + zqtr[2]
left_place_pos.orientation.w = left_place_pre.orientation.w + zqtr[3]
left_pnp.place(left_place_pos)