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Max Hunt 2020-02-25 20:40:06 +00:00
parent 8f368d94be
commit e01228e565
1 changed files with 9 additions and 7 deletions
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16
new_main.py
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@ -102,15 +102,15 @@ class PickAndPlace(object):
print('@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@@')
return limb_joints
if simulation:
brick_ids = ['b1','b2','b3','b4','b5','b6','b7','b8','b9']
brick_ids = ['b1','b2','b3','b4','b5','b6','b7','b8','b9']
with open ("brick/model.sdf", "r") as brick_file:brick_sdf=brick_file.read().replace('\n', '')
with open ("L3-table/model.sdf", "r") as table_file:table_sdf=table_file.read().replace('\n', '')
with open ("brick/model.sdf", "r") as brick_file:brick_sdf=brick_file.read().replace('\n', '')
with open ("L3-table/model.sdf", "r") as table_file:table_sdf=table_file.read().replace('\n', '')
rospy.wait_for_service('/gazebo/spawn_sdf_model')
spawn_sdf = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)
delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
rospy.wait_for_service('/gazebo/spawn_sdf_model')
spawn_sdf = rospy.ServiceProxy('/gazebo/spawn_sdf_model', SpawnModel)
delete_model = rospy.ServiceProxy('/gazebo/delete_model', DeleteModel)
def cleanup():
for obj in brick_ids:
@ -202,6 +202,7 @@ def V_Routine():
x = raw_input('Close?')
if x == 'n':exit(0)
left_pnp.gripper_close()
time.sleep(0.5)
left_pnp.send(ta.V_approach)
@ -216,6 +217,7 @@ def H_Routine():
x = raw_input('Close?')
if x == 'n':exit(0)
left_pnp.gripper_close()
time.sleep(0.5)
left_pnp.send(ta.H_approach)