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Max Hunt 2020-02-13 14:19:12 +00:00
parent 63846ec226
commit ec12d0fa8b
2 changed files with 15 additions and 15 deletions
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2
bricks_etc.py
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@ -4,7 +4,7 @@ from math import radians
table = { table = {
'id':'t1', 'id':'t1',
'rframe':'world', 'rframe':'world',
'x':0.75, 'x':0.85,
'y':0.20, 'y':0.20,
'z':0, 'z':0,
'roll':0, 'roll':0,

28
main.py
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@ -229,23 +229,23 @@ if __name__ == "__main__":
hover_distance = 0.1 # meters hover_distance = 0.1 # meters
# Starting Pose for left arm # Starting Pose for left arm
left_pose = Pose() left_pose = Pose()
left_pose.position.x = 0.579679836383 left_pose.position.x = 0.579
left_pose.position.y = 0.283311769707 left_pose.position.y = 0.283
left_pose.position.z = 0.213676720426 left_pose.position.z = 0.273
left_pose.orientation.x = -0.0249590815779 left_pose.orientation.x = -0.024
left_pose.orientation.y = 0.999649402929 left_pose.orientation.y = 0.999
left_pose.orientation.z = 0.00737916180073 left_pose.orientation.z = 0.007
left_pose.orientation.w = 0.00486450832011 left_pose.orientation.w = 0.004
# Starting Pose for right arm # Starting Pose for right arm
right_pose = Pose() right_pose = Pose()
right_pose.position.x = 0.579679836383 right_pose.position.x = 0.579
right_pose.position.y = -0.283311769707 right_pose.position.y = -0.283
right_pose.position.z = 0.213676720426 right_pose.position.z = 0.273
right_pose.orientation.x = -0.0249590815779 right_pose.orientation.x = -0.024
right_pose.orientation.y = 0.999649402929 right_pose.orientation.y = 0.999
right_pose.orientation.z = -0.00737916180073 right_pose.orientation.z = -0.000
right_pose.orientation.w = 0.00486450832011 right_pose.orientation.w = 0.004
# left_pnp = PickAndPlace('left', hover_distance) # left_pnp = PickAndPlace('left', hover_distance)
# right_pnp = PickAndPlace('right', hover_distance) # right_pnp = PickAndPlace('right', hover_distance)