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Max Hunt 2020-03-09 15:49:42 +00:00
parent b8627b109c
commit d48c57f033
1 changed files with 1 additions and 2 deletions
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new_main.py
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@ -74,8 +74,7 @@ class PickAndPlace(object): #class that handles moving the robot, gripper and IK
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'''
#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
hdr = Header(stamp=rospy.Time.now(), frame_id='base')
ikreq = SolvePositionIKRequest() ikreq = SolvePositionIKRequest()
ikreq.pose_stamp.append(PoseStamped(header=hdr, pose=pose)) ikreq.pose_stamp.append(PoseStamped(header=hdr, pose=pose))
try: try: