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Max Hunt 2020-03-01 22:33:42 +00:00
parent d9c4570768
commit e32eb48ac6
2 changed files with 10 additions and 18 deletions
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24
new_main.py
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@ -373,26 +373,18 @@ if debug:
x = raw_input('Continue?: ') x = raw_input('Continue?: ')
left_pnp.gripper_open() left_pnp.gripper_open()
brick9after = Pose()
brick9after.position.x = 0.635
brick9after.position.y = 0.349
brick9after.position.z = 0.506
brick9after.orientation.x = -0.7071067811865476
brick9after.orientation.y = -0.7071067811865475
brick9after.orientation.z = 4.329780281177466e-17
brick9after.orientation.w = 4.329780281177467e-17
new_x = left_pnp.ik_request(brick9after) left_pnp.send(ta.B_9_za)
left_pnp.send(new_x)
x = raw_input('Ready???') x = raw_input('Ready???')
brick9after2 = Pose() brick9after2 = Pose()
brick9after2.position.x = 0.635 brick9after2.position.x = 0.635
brick9after2.position.y = 0.5 brick9after2.position.y = 0.45
brick9after2.position.z = 0.4 brick9after2.position.z = 0.506
brick9after2.orientation.x = 0 brick9after2.orientation.x = -0.7071067811865476
brick9after2.orientation.y = 0 brick9after2.orientation.y = -0.7071067811865475
brick9after2.orientation.z = 0.707 brick9after2.orientation.z = 4.329780281177466e-17
brick9after2.orientation.w = 0.707 brick9after2.orientation.w = 4.329780281177467e-17
newest = left_pnp.ik_request(brick9after2) newest = left_pnp.ik_request(brick9after2)
left_pnp.send(newest) left_pnp.send(newest)

4
target_angles.py
View File

@ -45,8 +45,8 @@ B_8_A = {'left_w0': 0.47397216515126994, 'left_w1': 1.8191693493757988, 'left_w2
B_8_P = {'left_w0': 0.8110423768060999, 'left_w1': 1.472609531372465, 'left_w2': 1.1138183782919966, 'left_e0': -1.4329588050987652, 'left_e1': 1.5676992726056054, 'left_s0': 0.23139732100304755, 'left_s1': -0.7547923372600823} B_8_P = {'left_w0': 0.8110423768060999, 'left_w1': 1.472609531372465, 'left_w2': 1.1138183782919966, 'left_e0': -1.4329588050987652, 'left_e1': 1.5676992726056054, 'left_s0': 0.23139732100304755, 'left_s1': -0.7547923372600823}
B_9_A = {'left_w0': 0.35959165932558207, 'left_w1': 1.9280499585601125, 'left_w2': 1.4753075963656614, 'left_e0': -1.014625396487737, 'left_e1': 0.9725959751301161, 'left_s0': -0.03418343328074433, 'left_s1': -1.1722171342836722} B_9_A = {'left_w0': 0.35959165932558207, 'left_w1': 1.9280499585601125, 'left_w2': 1.4753075963656614, 'left_e0': -1.014625396487737, 'left_e1': 0.9725959751301161, 'left_s0': -0.03418343328074433, 'left_s1': -1.1722171342836722}
B_9_P = {'left_w0': 0.31592446450227823, 'left_w1': 1.7694573442805632, 'left_w2': 1.4526326487219683, 'left_e0': -1.0428825978748242, 'left_e1': 1.1732291351006587, 'left_s0': 0.05048765124424395, 'left_s1': -1.2037991885581427} B_9_P = {'left_w0': 0.31592446450227823, 'left_w1': 1.7694573442805632, 'left_w2': 1.4526326487219683, 'left_e0': -1.0428825978748242, 'left_e1': 1.1732291351006587, 'left_s0': 0.05048765124424395, 'left_s1': -1.2037991885581427}
B_9_Z = {'left_w0': 0.4869561031137116, 'left_w1': 1.8992109963633044, 'left_w2': 1.3939913852662396, 'left_e0': -1.2437016243859287, 'left_e1': 1.0343560188649745, 'left_s0': 0.07240322932590991, 'left_s1': -1.085460421297549} B_9_za = {'left_w0': 0.4224716898888107, 'left_w1': 2.0940001010894775, 'left_w2': 1.5055377828561145, 'left_e0': -0.9718054278924021, 'left_e1': 0.7415823040245637, 'left_s0': -0.1466335135058824, 'left_s1': -1.1271627193043057}
B_9_zb = {}
# vpk = {'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} # vpk = {'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}
# hpk = {'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} # hpk = {'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}
# 1pl = {'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} # 1pl = {'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}