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This commit is contained in:
Max Hunt 2020-02-10 14:32:02 +00:00
parent 97a0a2ea1c
commit 0a9bc6e110
1 changed files with 4 additions and 2 deletions
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6
main.py
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@ -378,7 +378,7 @@ def load_objects():
rospy.init_node("ik_pick_and_place_demo") rospy.init_node("ik_pick_and_place_demo")
cleanup() # cleanup()
hover_distance = 0.1 # meters hover_distance = 0.1 # meters
# Starting Pose for left arm # Starting Pose for left arm
@ -408,11 +408,13 @@ right_pnp = PickAndPlace('right', hover_distance)
left_pnp.move_to_start(left_pnp.ik_request(left_pose)) left_pnp.move_to_start(left_pnp.ik_request(left_pose))
right_pnp.move_to_start(right_pnp.ik_request(right_pose)) right_pnp.move_to_start(right_pnp.ik_request(right_pose))
load_objects() # load_objects()
####################################HACKING BEGIN ####################################HACKING BEGIN
left_test = Pose() left_test = Pose()
left_test.position.x = -0.162 left_test.position.x = -0.162
left_test.position.y = 0.437 left_test.position.y = 0.437