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Feb 28th, 2018
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  1. id: "test"
  2. pre_grasp_posture:
  3.   header:
  4.     seq: 0
  5.     stamp:
  6.       secs: 0
  7.       nsecs:        0
  8.     frame_id: "base_link"
  9.   joint_names: [gripper_axis]
  10.   points:
  11.     -
  12.       positions: [0.0]
  13.       velocities: []
  14.       accelerations: []
  15.       effort: []
  16.       time_from_start:
  17.         secs: 0
  18.         nsecs:        0
  19. grasp_posture:
  20.   header:
  21.     seq: 0
  22.     stamp:
  23.       secs: 0
  24.       nsecs:        0
  25.     frame_id: "base_link"
  26.   joint_names: [gripper_axis]
  27.   points:
  28.     -
  29.       positions: [0.02]
  30.       velocities: []
  31.       accelerations: []
  32.       effort: [0.0]
  33.       time_from_start:
  34.         secs: 0
  35.         nsecs:        0
  36. grasp_pose:
  37.   header:
  38.     seq: 0
  39.     stamp:
  40.       secs: 0
  41.       nsecs:        0
  42.     frame_id: "base_link"
  43.   pose:
  44.     position:
  45.       x: -0.126221465369
  46.       y: 0.140356318094
  47.       z: 0.819058962134
  48.     orientation:
  49.       x: -0.0465531033984
  50.       y: 0.412094838764
  51.       z: -0.161902333854
  52.       w: 0.895431899544
  53. grasp_quality:
  54.   data: 353.55947876
  55. pre_grasp_approach:
  56.   direction:
  57.     header:
  58.       seq: 0
  59.       stamp:
  60.         secs: 0
  61.         nsecs:        0
  62.       frame_id: "base_link"
  63.     vector:
  64.       x: 1.0
  65.       y: 0.0
  66.       z: 0.0
  67.   desired_distance: 0.1
  68.   min_distance: 0.001
  69. post_grasp_retreat:
  70.   direction:
  71.     header:
  72.       seq: 0
  73.       stamp:
  74.         secs: 0
  75.         nsecs:        0
  76.       frame_id: ''
  77.     vector:
  78.       x: 0.0
  79.       y: 0.0
  80.       z: 0.0
  81.   desired_distance: 0.0
  82.   min_distance: 0.0
  83. post_place_retreat:
  84.   direction:
  85.     header:
  86.       seq: 0
  87.       stamp:
  88.         secs: 0
  89.         nsecs:        0
  90.       frame_id: ''
  91.     vector:
  92.       x: 0.0
  93.       y: 0.0
  94.       z: 0.0
  95.   desired_distance: 0.0
  96.   min_distance: 0.0
  97. max_contact_force: 0
  98. allowed_touch_objects: []
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