From d160de18386b0e44c0b7c151ce23219a0a4eaf44 Mon Sep 17 00:00:00 2001 From: Niko Date: Thu, 14 Sep 2023 19:47:44 +0200 Subject: [PATCH] move_square tested --- franka_iml_experiment/move_square.py | 9 +++++---- 1 file changed, 5 insertions(+), 4 deletions(-) diff --git a/franka_iml_experiment/move_square.py b/franka_iml_experiment/move_square.py index 2a9c5a5..d7182a4 100644 --- a/franka_iml_experiment/move_square.py +++ b/franka_iml_experiment/move_square.py @@ -21,10 +21,11 @@ class MoveFrankaSquareNode(Node): side_length = 0.5 poses = [ - Pose(position=Point(x=0.4, y=0.3, z=0.15), orientation=Quaternion(x=1., y=0., z=0., w=0.)), - Pose(position=Point(x=0.4, y=-0.3, z=0.15), orientation=Quaternion(x=1., y=0., z=0., w=0.)), - # Pose(position=Point(x=-0.1, y=0.1, z=z_offset), de=Quaternion(x=0., y=1., z=0., w=0.)), - # Pose(position=Point(x=-0.1, y=-0.1, z=z_offset), orientation=Quaternion(x=0., y=1., z=0., w=0.)) + Pose(position=Point(x=0.25, y=0.25, z=0.35), orientation=Quaternion(x=1., y=0., z=0., w=0.)), + Pose(position=Point(x=0.25, y=-0.25, z=0.35), orientation=Quaternion(x=1., y=0., z=0., w=0.)), + Pose(position=Point(x=0.75, y=-0.25, z=0.35), orientation=Quaternion(x=1., y=0., z=0., w=0.)), + Pose(position=Point(x=0.75, y=0.25, z=0.35), orientation=Quaternion(x=1., y=0., z=0., w=0.)), + Pose(position=Point(x=0.25, y=0.25, z=0.35), orientation=Quaternion(x=1., y=0., z=0., w=0.)), ] pose_array.poses = poses