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Max Hunt 2020-02-18 23:45:16 +00:00
parent 90bad673ff
commit 53c00e1cc1
1 changed files with 4 additions and 0 deletions
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new_main.py
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@ -99,6 +99,10 @@ class PickAndPlace(object):
# approach with a pose the hover-distance above the requested pose # approach with a pose the hover-distance above the requested pose
approach.position.z = approach.position.z + self._hover_distance approach.position.z = approach.position.z + self._hover_distance
joint_angles = self.ik_request(approach) joint_angles = self.ik_request(approach)
print('---------')
print('IK Solution:')
print(joint_angles)
print('---------')
self._guarded_move_to_joint_position(joint_angles) self._guarded_move_to_joint_position(joint_angles)
def _retract(self): def _retract(self):