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Max Hunt 2020-02-10 14:29:00 +00:00
parent 1eda0d8f69
commit 97a0a2ea1c
1 changed files with 16 additions and 0 deletions
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main.py
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@ -410,6 +410,22 @@ right_pnp.move_to_start(right_pnp.ik_request(right_pose))
load_objects() load_objects()
####################################HACKING BEGIN
left_test = Pose()
left_test.position.x = -0.162
left_test.position.y = 0.437
left_test.position.z = -0.106
left_test.orientation.x = -0.713
left_test.orientation.y = -0.016
left_test.orientation.z = 0.023
left_test.orientation.w = 0.701
left_pnp.pick(left_test)
####################################HACKING END
# pose1 = Pose() # pose1 = Pose()
# pose1.position = Point(x=bricks_start[0]['x'], y=bricks_start[0]['y'], z=bricks_start[0]['z']) # pose1.position = Point(x=bricks_start[0]['x'], y=bricks_start[0]['y'], z=bricks_start[0]['z'])
# hqo = quaternion_from_euler(bricks_start[0]['roll'], bricks_start[0]['pitch'], bricks_start[0]['yaw']) # hqo = quaternion_from_euler(bricks_start[0]['roll'], bricks_start[0]['pitch'], bricks_start[0]['yaw'])