From d48c57f033a4f3111e25d0eb1ec32985d53e82c6 Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Mon, 9 Mar 2020 15:49:42 +0000 Subject: [PATCH] Update --- new_main.py | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/new_main.py b/new_main.py index af9c4ad..c03e8dd 100644 --- a/new_main.py +++ b/new_main.py @@ -74,8 +74,7 @@ class PickAndPlace(object): #class that handles moving the robot, gripper and IK def ik_request(self, pose): '''Function to generate joint angles from target pose, does not take into account obstacles that are not the robot''' - #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') + 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 ikreq = SolvePositionIKRequest() ikreq.pose_stamp.append(PoseStamped(header=hdr, pose=pose)) try: