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This commit is contained in:
Max Hunt 2020-02-13 15:26:37 +00:00
parent 57f7872a7f
commit e4d02a8cb2
1 changed files with 22 additions and 22 deletions
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44
main.py
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@ -247,12 +247,12 @@ if __name__ == "__main__":
right_pose.orientation.z = -0.000
right_pose.orientation.w = 0.004
# 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()
@ -260,26 +260,26 @@ if __name__ == "__main__":
tf_service(init=True)
###################################HACKING BEGIN
for i in range(0, 5):
print()
otc.tf_lookup('a3')
print()
print()
print("!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!")
for i in range(0, 5):
print()
otc.tf_lookup('f2')
print()
print()
# for i in range(0, 5):
# print()
# otc.tf_lookup('a3')
# print()
# 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+=0.05
# left_pnp.pick(left_pick)
left_pick = otc.tf_lookup('a1')
left_pick.position.z+=0.05
left_pnp.pick(left_pick)
# left_place = otc.tf_lookup('f2')
# left_place.position.z+=0.05
# left_pnp.place(left_place)
left_place = otc.tf_lookup('f2')
left_place.position.z+=0.05
left_pnp.place(left_place)