max/robotics
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Update

Browse Source
This commit is contained in:
Max Hunt 2020-02-13 14:19:12 +00:00
parent 63846ec226
commit ec12d0fa8b
2 changed files with 15 additions and 15 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
bricks_etc.py
View File

@ -4,7 +4,7 @@ from math import radians
table = {
'id':'t1',
'rframe':'world',
'x':0.75,
'x':0.85,
'y':0.20,
'z':0,
'roll':0,

28
main.py
View File

@ -229,23 +229,23 @@ if __name__ == "__main__":
hover_distance = 0.1 # meters
# Starting Pose for left arm
left_pose = Pose()
left_pose.position.x = 0.579679836383
left_pose.position.y = 0.283311769707
left_pose.position.z = 0.213676720426
left_pose.orientation.x = -0.0249590815779
left_pose.orientation.y = 0.999649402929
left_pose.orientation.z = 0.00737916180073
left_pose.orientation.w = 0.00486450832011
left_pose.position.x = 0.579
left_pose.position.y = 0.283
left_pose.position.z = 0.273
left_pose.orientation.x = -0.024
left_pose.orientation.y = 0.999
left_pose.orientation.z = 0.007
left_pose.orientation.w = 0.004
# Starting Pose for right arm
right_pose = Pose()
right_pose.position.x = 0.579679836383
right_pose.position.y = -0.283311769707
right_pose.position.z = 0.213676720426
right_pose.orientation.x = -0.0249590815779
right_pose.orientation.y = 0.999649402929
right_pose.orientation.z = -0.00737916180073
right_pose.orientation.w = 0.00486450832011
right_pose.position.x = 0.579
right_pose.position.y = -0.283
right_pose.position.z = 0.273
right_pose.orientation.x = -0.024
right_pose.orientation.y = 0.999
right_pose.orientation.z = -0.000
right_pose.orientation.w = 0.004
# left_pnp = PickAndPlace('left', hover_distance)
# right_pnp = PickAndPlace('right', hover_distance)