pallet pos

robot/urdf_manager.py

@@ -40,6 +40,7 @@ class UrdfManager:
     def load_models(self):
         p.loadURDF(
             os.path.join(self.application_path, "urdf", "plane.urdf"),
+            [0,0,-1],
             physicsClientId=self.physics_client,
         )
 
@@ -60,8 +61,8 @@ class UrdfManager:
         self.start_loop(self.urdf_filename)
 
         k = 0.2
-        self.pallet_target = [1.3 + k, 0.6, 0.1]
-        self.pallet_size = [0.3 + k, 1.2, 0.144]
+        self.pallet_target = [1.366773, 0.59591, -0.624086]
+        self.pallet_size = [0.8, 1.2, 0.144]
         self.pallet_position = [
             (self.pallet_target[i] - self.pallet_size[i] * 0.5)
             for i in range(len(self.pallet_target))
@@ -71,7 +72,7 @@ class UrdfManager:
         self.box_size = [0.2, 0.2, 0.2]
 
         # положение дальнего угла
-        self.conv_target = [1.1 + 0.5, -0.63, 0.4]
+        self.conv_target = [1.045, -0.989, -0.094]
         self.conv_size = [0.5, 3.0, 0.1]
         self.conv_direction = self.conv_size.index(max(self.conv_size))
         self.conv_pos = [
@@ -106,11 +107,7 @@ class UrdfManager:
             # logger.info(p)
 
             for i in range(len(self.box_size)):
-                p[i] = (
-                    self.pallet_target[i]
-                    - p[i]
-                    - self.box_size[i] * 0.5
-                )
+                p[i] = self.pallet_target[i] - p[i] - self.box_size[i] * 0.5
             dir_wall = (self.conv_direction + 1) % (3 - 1)
             p[dir_wall] -= self.box_size[dir_wall]
             p[self.conv_direction] -= self.box_size[self.conv_direction] * 0.5