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")