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This commit is contained in:
Max Hunt 2020-02-15 01:09:21 +00:00
parent 17bf63de79
commit df9c13798e
1 changed files with 9 additions and 3 deletions
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12
new_main.py
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@ -171,7 +171,13 @@ def spawn_brick(vertical=True):
brick_pose.orientation.z = 0 brick_pose.orientation.z = 0
brick_pose.orientation.w = 0.707 brick_pose.orientation.w = 0.707
else: else:
pass brick_pose.position.x = 0.4847
brick_pose.position.y = 0.7127
brick_pose.position.z = 0.9
brick_pose.orientation.x = 0
brick_pose.orientation.y = 0.707
brick_pose.orientation.z = 0
brick_pose.orientation.w = 0.707
brick_reference_frame = 'world' brick_reference_frame = 'world'
brick_id = brick_ids.pop() brick_id = brick_ids.pop()
@ -187,7 +193,7 @@ 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'])
@ -196,7 +202,7 @@ left_pnp = PickAndPlace('left', hover_distance)
# 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'])