From 0d187c25e9121819a033695a1317e9ebeb4615e1 Mon Sep 17 00:00:00 2001
From: Johannes Mey <johannes.mey@tu-dresden.de>
Date: Tue, 24 Nov 2020 15:36:21 +0100
Subject: [PATCH] fix some orientations, temporarily remove plate.
---
src/grasping/environment_util.cpp | 4 +++-
1 file changed, 3 insertions(+), 1 deletion(-)
diff --git a/src/grasping/environment_util.cpp b/src/grasping/environment_util.cpp
index 5476683..6d8af3d 100644
--- a/src/grasping/environment_util.cpp
+++ b/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;
--
GitLab