diff --git a/test/grasp_from_side_test.cpp b/test/grasp_from_side_test.cpp index 2fcda0fd336d537a7e11abe3f9d9517676ef09f2..2efce1e594650cbb2419ffb2b044debef6f3782c 100644 --- a/test/grasp_from_side_test.cpp +++ b/test/grasp_from_side_test.cpp @@ -138,17 +138,11 @@ TEST_F(Grasping, SIDE_GRASPING_1) { place_table_pose.position.z = 0.2; place_table_pose.orientation.w = 1.0; - /* obj_pose.position.x = 0.5; obj_pose.position.y = -0.5; obj_pose.position.z = 0.5; obj_pose.orientation.w = 1.0; - */ - obj_pose.position.x = 0; - obj_pose.position.y = 0; - obj_pose.position.z = 0; - obj_pose.orientation.w = 1.0; place_pose.orientation = tf2::toMsg(place_orientation); place_pose.position.x = place_table_pose.position.x; @@ -176,16 +170,9 @@ TEST_F(Grasping, SIDE_GRASPING_2) { place_table_pose.position.z = 0.2; place_table_pose.orientation.w = 1.0; - /* obj_pose.position.x = -0.5; obj_pose.position.y = -0.5; obj_pose.position.z = 0.5; - obj_pose.orientation.w = 1.0; - */ - - obj_pose.position.x = 0; - obj_pose.position.y = 0; - obj_pose.position.z = 0; obj_pose.orientation.w = 1.0; place_pose.orientation = tf2::toMsg(place_orientation); @@ -214,16 +201,9 @@ TEST_F(Grasping, SIDE_GRASPING_3) { place_table_pose.position.z = 0.2; place_table_pose.orientation.w = 1.0; - /* obj_pose.position.x = 0.5; obj_pose.position.y = 0.5; obj_pose.position.z = 0.5; - obj_pose.orientation.w = 1.0; - */ - - obj_pose.position.x = 0; - obj_pose.position.y = 0; - obj_pose.position.z = 0; obj_pose.orientation.w = 1.0; place_pose.orientation = tf2::toMsg(place_orientation); @@ -252,16 +232,9 @@ TEST_F(Grasping, SIDE_GRASPING_4) { place_table_pose.position.z = 0.2; place_table_pose.orientation.w = 1.0; - /* obj_pose.position.x = 0.5; obj_pose.position.y = -0.5; obj_pose.position.z = 0.5; - obj_pose.orientation.w = 1.0; - */ - - obj_pose.position.x = 0; - obj_pose.position.y = 0; - obj_pose.position.z = 0; obj_pose.orientation.w = 1.0; place_pose.orientation = tf2::toMsg(place_orientation); diff --git a/test/side_grasping.test b/test/side_grasping.test index fe9ae97168a8ee0567a074d1da256cfe4ecf8987..0ba7f0e537d6499492b036b5dbcfe79c214b8795 100644 --- a/test/side_grasping.test +++ b/test/side_grasping.test @@ -1,10 +1,10 @@ <launch> <include file="$(find panda_simulation)/launch/simulation.launch"/> - <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" + <!-- <node name="$(anon rviz)" pkg="rviz" type="rviz" respawn="false" args="-d $(find panda_grasping)/test/plan_visualizer.rviz" output="screen"> <rosparam command="load" file="$(find panda_moveit_config)/config/kinematics.yaml"/> - </node> + </node>--> <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch" />