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move_square tested

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Niko Feith 2023-09-14 19:47:44 +02:00
parent 7c26b764d0
commit d160de1838
1 changed files with 5 additions and 4 deletions
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9
franka_iml_experiment/move_square.py
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@ -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