From 037c8288f2738791cbf44975ffeee426da6fce19 Mon Sep 17 00:00:00 2001 From: A Farzat Date: Thu, 27 Nov 2025 07:02:52 +0300 Subject: Import the project --- controllers/final/positions.py | 30 ++++++++++++++++++++++++++++++ 1 file changed, 30 insertions(+) create mode 100644 controllers/final/positions.py (limited to 'controllers/final/positions.py') diff --git a/controllers/final/positions.py b/controllers/final/positions.py new file mode 100644 index 0000000..e47d841 --- /dev/null +++ b/controllers/final/positions.py @@ -0,0 +1,30 @@ +# Predefined positions of different joints. +lift_pos = { + "torso_lift_joint": .25, + "arm_1_joint": 1.6, + "arm_2_joint": .5, + "arm_4_joint": .5, + "arm_7_joint": 1.55, +} +retract_pos = { + "torso_lift_joint": .25, + "arm_1_joint": 1.6, + "arm_2_joint": .85, + "arm_4_joint": 1., + "arm_7_joint": 1.55, +} +raise_torso = {"torso_lift_joint": .35} +place_pos = { + "torso_lift_joint": .05, + "arm_1_joint": 1.6, + "arm_2_joint": .5, + "arm_4_joint": .5, + "arm_7_joint": 1.55, +} +# | merges two dictionaries. +grasp_pos = place_pos | { + "torso_lift_joint": .15, + "gripper_left_finger_joint": .045, + "gripper_right_finger_joint": .045, +} +rotate_pos = retract_pos | { "arm_4_joint": 2.25, "arm_2_joint": 1., } -- cgit v1.2.3-70-g09d2