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This commit is contained in:
Max Hunt 2020-02-15 14:51:14 +00:00
parent 57ba0a2f94
commit f35ae0b49e
1 changed files with 3 additions and 5 deletions
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8
new_main.py
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@ -22,8 +22,7 @@ brickstuff = tps.brick_directions_notf
class PickAndPlace(object): class PickAndPlace(object):
def __init__(self, limb, hover_distance = 0.10, verbose=True, speed=0.2, accuracy=baxter_interface.settings.JOINT_ANGLE_TOLERANCE): def __init__(self, limb, hover_distance = 0.10, verbose=True, speed=0.2, accuracy=baxter_interface.settings.JOINT_ANGLE_TOLERANCE):
self._speed = 0.2 # self._accuracy = accuracy
self._accuracy = accuracy
self._limb_name = limb # string self._limb_name = limb # string
self._hover_distance = hover_distance # in meters self._hover_distance = hover_distance # in meters
self._verbose = verbose # bool self._verbose = verbose # bool
@ -82,8 +81,8 @@ class PickAndPlace(object):
def _guarded_move_to_joint_position(self, joint_angles): def _guarded_move_to_joint_position(self, joint_angles):
if joint_angles: if joint_angles:
self._limb.set_joint_position_speed(1.5) # self._limb.set_joint_position_speed(1.5)
self._limb.move_to_joint_positions(joint_angles, timeout=20.0, threshold=self._accuracy) self._limb.move_to_joint_positions(joint_angles)#, timeout=20.0, threshold=self._accuracy)
else: else:
rospy.logerr("No Joint Angles provided for move_to_joint_positions. Staying put.") rospy.logerr("No Joint Angles provided for move_to_joint_positions. Staying put.")
@ -215,7 +214,6 @@ left_pnp = PickAndPlace('left', hover_distance)
spawn_v_brick() spawn_v_brick()
left_pnp.pick(brickstuff[0]['pose']) left_pnp.pick(brickstuff[0]['pose'])
left_pnp.place(brickstuff[2]['pose']) left_pnp.place(brickstuff[2]['pose'])
exit(0)
spawn_v_brick() spawn_v_brick()
left_pnp.pick(brickstuff[0]['pose']) left_pnp.pick(brickstuff[0]['pose'])
left_pnp.place(brickstuff[3]['pose']) left_pnp.place(brickstuff[3]['pose'])