targetPose_back_01 = an._createPose(0.033 + 0.024 - 0.235, 0.0, 0.105, 0, -math.pi + 0.2, 0)
#end middle
targetPose_back_02 = an._createPose(0.033 + 0.024 - 0.28, 0.0, 0.105, 0, -math.pi + 0.3, 0)
#targetPose_back = an._createPose(0.033 + 0.024 - 0.39, 0.00, 0.07, 0, -math.pi + 0.4, 0)
#an.moveToConfiguration("pregrasp_back")
#an.moveToPoseAndGraspFromTop(targetPose_back)
while (True):
# an.moveToConfiguration("zeroposition")
an.moveToConfiguration("pregrasp_front")
an.moveToPoseAndGraspFromTop(targetPose_front_01)
an.moveToConfiguration("pregrasp_front_init")
#an.moveToConfiguration("zeroposition")
an.moveToConfiguration("pregrasp_back_init")
an.moveToConfiguration("pregrasp_back")
an.moveToPoseAndReleaseFromTop(targetPose_back_01)
an.moveToConfiguration("pregrasp_back")
an.moveToConfiguration("pregrasp_back_init")
