def test_absolute(self):
"""Test robot's ability to position its gripper in absolute coordinates (base frame)."""
goal = Pose()
roll = -math.pi / 2
pitch = 0
yaw = -math.pi / 2
quaternion = tf.transformations.quaternion_from_euler(roll, pitch, yaw)
goal.orientation.x = quaternion[0]
goal.orientation.y = quaternion[1]
goal.orientation.z = quaternion[2]
goal.orientation.w = quaternion[3]
while True:
end = user_input("Zelite li nastaviti? d/n")
if end != 'd':
break
goal.position.x = float(user_input("X?"))
goal.position.y = float(user_input("Y?"))
goal.position.z = float(user_input("Z?"))
goal_final = baxterGoal(id=1, pose=goal)
self.left_client.send_goal_and_wait(goal_final)
result = self.left_client.get_result()
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