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This commit is contained in:
Max Hunt 2020-02-10 15:53:22 +00:00
parent 0a9bc6e110
commit d590baf322
1 changed files with 11 additions and 11 deletions
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22
main.py
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@ -378,7 +378,7 @@ def load_objects():
rospy.init_node("ik_pick_and_place_demo") rospy.init_node("ik_pick_and_place_demo")
# cleanup() cleanup()
hover_distance = 0.1 # meters hover_distance = 0.1 # meters
# Starting Pose for left arm # Starting Pose for left arm
@ -408,23 +408,23 @@ right_pnp = PickAndPlace('right', hover_distance)
left_pnp.move_to_start(left_pnp.ik_request(left_pose)) left_pnp.move_to_start(left_pnp.ik_request(left_pose))
right_pnp.move_to_start(right_pnp.ik_request(right_pose)) right_pnp.move_to_start(right_pnp.ik_request(right_pose))
# load_objects() load_objects()
####################################HACKING BEGIN ####################################HACKING BEGIN
left_test = Pose() # left_test = Pose()
left_test.position.x = -0.162 # left_test.position.x = -0.162
left_test.position.y = 0.437 # left_test.position.y = 0.437
left_test.position.z = -0.106 # left_test.position.z = -0.106
left_test.orientation.x = -0.713 # left_test.orientation.x = -0.713
left_test.orientation.y = -0.016 # left_test.orientation.y = -0.016
left_test.orientation.z = 0.023 # left_test.orientation.z = 0.023
left_test.orientation.w = 0.701 # left_test.orientation.w = 0.701
left_pnp.pick(left_test) # left_pnp.pick(left_test)
####################################HACKING END ####################################HACKING END