fix some orientations, temporarily remove plate.

src/grasping/environment_util.cpp

@@ -24,10 +24,11 @@ void EnvironmentUtil::constructPlate(std::vector<moveit_msgs::CollisionObject> &
     plate.primitive_poses[0].position.x = 0;
     plate.primitive_poses[0].position.y = 0;
     plate.primitive_poses[0].position.z = -0.1;
+    plate.primitive_poses[0].orientation.w = 1;
 
     plate.operation = plate.ADD;
 
-    collision_objects.push_back(plate);
+//    collision_objects.push_back(plate);
 }
 
 void EnvironmentUtil::constructSupport(std::vector<moveit_msgs::CollisionObject> &collision_objects, std::string id,
@@ -50,6 +51,7 @@ void EnvironmentUtil::constructSupport(std::vector<moveit_msgs::CollisionObject>
     pick_support.primitive_poses[0].position.x = object_to_pick_pose.position.x;
     pick_support.primitive_poses[0].position.y = object_to_pick_pose.position.y;
     pick_support.primitive_poses[0].position.z = (object_to_pick_pose.position.z - (object_z_dimension / 2) - 0.02);
+    pick_support.primitive_poses[0].orientation.w = 1; // TODO align to object
 
     pick_support.operation = pick_support.ADD;