def poseFrontPreGrasp():
x = 0.25
y = 0
z = 0.10
roll = 0
pitch = math.pi
yaw = 0
return createPose(x, y, z, roll, pitch, yaw)
if __name__ == "__main__":
rospy.init_node('youbot_ik_solver_test')
time.sleep(0.5)
an = ArmConfiguration()
#rospy.sleep(5.0)
print "moveto config"
#an.moveToConfiguration("zeroposition")
an.moveGripperOpen()
rospy.sleep(1.0)
an.moveGripperClose()
rospy.sleep(1.0)
def poseFrontPreGrasp():
x = 0.25
y = 0
z = 0.10
roll = 0
pitch = math.pi
yaw = 0
return createPose(x, y, z, roll, pitch, yaw)
if __name__ == "__main__":
rospy.init_node('youbot_ik_solver_test')
time.sleep(0.5)
an = ArmConfiguration()
#front center
targetPose_front_01 = an._createPose(0.27, 0.0, 0.05, 0, math.pi, math.pi / 2)
#front left
targetPose_front_02 = an._createPose(0.27, 0.08, 0.05, 0, math.pi, math.pi / 2)
#front right
targetPose_front_03 = an._createPose(0.27, -0.08, 0.05, 0, math.pi, math.pi / 2)
#end begin
targetPose_back_01 = an._createPose(0.033 + 0.024 - 0.235, 0.0, 0.105, 0, -math.pi + 0.2, 0)
#end middle
