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This commit is contained in:
2929ss 2022-08-04 17:38:31 +08:00
parent 252e89c9bb
commit 06bc833154
3 changed files with 12 additions and 9 deletions
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7
mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_color.py
View file

@ -19,7 +19,7 @@ __version__ = "1.0"
class Object_detect(Movement): class Object_detect(Movement):
def __init__(self, camera_x = 160, camera_y = -10): def __init__(self, camera_x = 160, camera_y = -5):
# inherit the parent class # inherit the parent class
super(Object_detect, self).__init__() super(Object_detect, self).__init__()
# get path of file # get path of file
@ -162,7 +162,7 @@ class Object_detect(Movement):
# self.mc.send_coords([x, y, 150, 179.87, -3.78, -62.75], 25, 0) # self.mc.send_coords([x, y, 150, 179.87, -3.78, -62.75], 25, 0)
# time.sleep(3) # time.sleep(3)
self.mc.send_coords([x, y, 105, 179.87, -3.78, -62.75], 10, 0) self.mc.send_coords([x, y, 105, 179.87, -3.78, -62.75], 25, 0)
time.sleep(3) time.sleep(3)
# open pump # open pump
@ -197,7 +197,8 @@ class Object_detect(Movement):
self.pump_off() self.pump_off()
elif "dev" in self.robot_raspi or "dev" in self.robot_jes: elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
self.gpio_status(False) self.gpio_status(False)
time.sleep(6) time.sleep(4)
if color == 1: if color == 1:
self.pub_marker( self.pub_marker(
self.move_coords[color][0]/1000.0+0.04, self.move_coords[color][1]/1000.0-0.02) self.move_coords[color][0]/1000.0+0.04, self.move_coords[color][1]/1000.0-0.02)

12
mycobot_ai/ai_mycobot_280/scripts/combine_detect_obj_img_folder_opt.py
View file

@ -179,7 +179,9 @@ class Object_detect(Movement):
# self.mc.send_coords([x, y, 150, 179.87, -3.78, -62.75], 25, 0) # self.mc.send_coords([x, y, 150, 179.87, -3.78, -62.75], 25, 0)
# time.sleep(3) # time.sleep(3)
self.mc.send_coords([x, y, 105, 179.87, -3.78, -62.75], 10, 0) # self.mc.send_coords([x, y, 105, 179.87, -3.78, -62.75], 25, 0)
self.mc.send_coords([x, y, 60, 179.87, -3.78, -62.75], 25, 0)
time.sleep(3) time.sleep(3)
# open pump # open pump
@ -199,21 +201,21 @@ class Object_detect(Movement):
# print(tmp) # print(tmp)
self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, -0.79, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76] self.mc.send_angles([tmp[0], -0.71, -54.49, -23.02, -0.79, tmp[5]],25) # [18.8, -7.91, -54.49, -23.02, -0.79, -14.76]
time.sleep(3) time.sleep(5)
self.mc.send_coords(self.move_coords[color], 25, 1) self.mc.send_coords(self.move_coords[color], 25, 1)
self.pub_marker(self.move_coords[color][0]/1000.0, self.move_coords[color] self.pub_marker(self.move_coords[color][0]/1000.0, self.move_coords[color]
[1]/1000.0, self.move_coords[color][2]/1000.0) [1]/1000.0, self.move_coords[color][2]/1000.0)
time.sleep(3) time.sleep(4)
# close pump # close pump
if "dev" in self.robot_m5 or "dev" in self.robot_wio: if "dev" in self.robot_m5 or "dev" in self.robot_wio:
self.pump_off() self.pump_off()
elif "dev" in self.robot_raspi or "dev" in self.robot_jes: elif "dev" in self.robot_raspi or "dev" in self.robot_jes:
self.gpio_status(False) self.gpio_status(False)
time.sleep(6) time.sleep(4)
self.mc.send_angles(self.move_angles[0], 25) self.mc.send_angles(self.move_angles[0], 25)
time.sleep(3) time.sleep(3)
@ -433,7 +435,7 @@ def parse_folder(folder):
elif os.path.exists(path2): elif os.path.exists(path2):
path = path2 path = path2
print("path:",path) # print("path:",path)
for i, j, k in os.walk(path): for i, j, k in os.walk(path):
for l in k: for l in k:

2
mycobot_description/urdf/mycobot/mycobot_with_vision.urdf
View file

@ -6,7 +6,7 @@
<visual> <visual>
<geometry> <geometry>
<!--- 0.0 0 -0.04 1.5708 3.14159--> <!--- 0.0 0 -0.04 1.5708 3.14159-->
<mesh filename="package://mycobot_description/urdf/mycobot/suit_env.dae"/> <mesh filename="package://mycobot_description/urdf/mycobot/suit_env.dae" scale="1.2 1.2 1.2"/>
</geometry> </geometry>
<origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/> <origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
</visual> </visual>