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This commit is contained in:
Max Hunt 2020-03-09 10:45:47 +00:00
parent f8dd89a466
commit ecae80c525
1 changed files with 3 additions and 3 deletions
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new_main.py
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@ -140,7 +140,7 @@ def etq(roll, pitch, yaw):
def spawn_v_brick():#deals with gazebo objects(spawns a vertical brick), not useful in the real world def spawn_v_brick():#deals with gazebo objects(spawns a vertical brick), not useful in the real world
brick_pose = Pose() brick_pose = Pose()
brick_pose.position.x = 0.475 brick_pose.position.x = 0.475
brick_pose.position.y = 0.759 brick_pose.position.y = 0.739
brick_pose.position.z = 0.818 brick_pose.position.z = 0.818
QUATS = etq(0, 1.57, 1.57) QUATS = etq(0, 1.57, 1.57)
brick_pose.orientation.x = QUATS[0] brick_pose.orientation.x = QUATS[0]
@ -168,14 +168,14 @@ def spawn_tables():#deals with gazebo objects(spawns tables), not useful in the
table1 = Pose() table1 = Pose()
table1.position.x = 1.160 table1.position.x = 1.160
table1.position.y = 0.365 table1.position.y = 0.365
table1.position.z = -0.359 table1.position.z = -0.379
table1.orientation.x = 0 table1.orientation.x = 0
table1.orientation.y = 0 table1.orientation.y = 0
table1.orientation.z = 0 table1.orientation.z = 0
table1.orientation.w = 0 table1.orientation.w = 0
table2 = copy.deepcopy(table1) table2 = copy.deepcopy(table1)
table2.position.x = 0.996 table2.position.x = 0.996
table2.position.y = 1.018 table2.position.y = 1.068
table2.position.z = -0.003 table2.position.z = -0.003
table_reference_frame = 'world' table_reference_frame = 'world'
table1_id = 't1' table1_id = 't1'