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Max Hunt 2020-03-09 15:53:04 +00:00
parent 2847da69d1
commit 787bb62378
1 changed files with 32 additions and 35 deletions
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new_main.py
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@ -69,9 +69,6 @@ class PickAndPlace(object): #class that handles moving the robot, gripper and IK
'''Function to send limb to predefined joint angles without running IK service''' '''Function to send limb to predefined joint angles without running IK service'''
self._guarded_move_to_joint_position(angles) self._guarded_move_to_joint_position(angles)
def ik_request(self, pose): def ik_request(self, pose):
'''Function to generate joint angles from target pose, does not take into account obstacles that are not the robot''' '''Function to generate joint angles from target pose, does not take into account obstacles that are not the robot'''
hdr = Header(stamp=rospy.Time.now(), frame_id='base') #This function is only used wile in te simulation environment and only for generating valid joint angles, due to te random nature of te solver, it it not 'trusted' to run in real time hdr = Header(stamp=rospy.Time.now(), frame_id='base') #This function is only used wile in te simulation environment and only for generating valid joint angles, due to te random nature of te solver, it it not 'trusted' to run in real time