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Experimental packages for ABB manipulators within ROS-Industrial (http://wiki.ros.org/abb_experimental)

License: Apache License 2.0

CMake 100.00%

abb ros-industrial urdf moveit gazebo

abb_experimental's Introduction

ABB Experimental

ROS-Industrial ABB experimental meta-package. See the ROS wiki page for more information.

This repository contains packages that will be migrated to the abb repository after they have received sufficient testing. The contents of these packages are subject to change, without prior notice. Any available APIs are to be considered unstable and are not guaranteed to be complete and / or functional.

Branch naming follows the ROS distribution they are compatible with. -devel branches may be unstable.

Naming Convention

All robot support packages and MoveIt configurations follow the naming conventions as described in REP-I0007.

Installation

As this repository contains experimental packages, no binary packages are available.

Instead, follow the instructions to build them in a Catkin workspace shown in the next section.

Building

On newer (or older) versions of ROS

Building the packages on newer (or older) versions of ROS is in most cases possible and supported. For example: building the packages in this repository on Ubuntu Xenial/ROS Kinetic or Ubuntu Bionic/ROS Melodic systems is supported. This will require creating a Catkin workspace, cloning this repository, installing all required dependencies and finally building the workspace.

Catkin tools

It is recommended to use catkin_tools instead of the default catkin when building ROS workspaces. catkin_tools provides a number of benefits over regular catkin_make and will be used in the instructions below. All packages can be built using catkin_make however: use catkin_make in place of catkin build where appropriate.

Building the packages

The following instructions assume that a Catkin workspace has been created at $HOME/catkin_ws and that the source space is at $HOME/catkin_ws/src. Update paths appropriately if they are different on the build machine.

These instructions build the kinetic-devel branch on a ROS Kinetic system:

# change to the root of the Catkin workspace
$ cd $HOME/catkin_ws

# retrieve the latest development version of the abb repository. If you'd rather
# use the latest released version, replace 'kinetic-devel' with 'kinetic'
$ git clone -b kinetic-devel https://github.com/ros-industrial/abb.git src/abb
# retrieve the latest development version of abb_experimental
$ git clone -b kinetic-devel https://github.com/ros-industrial/abb_experimental.git src/abb_experimental

# check build dependencies. Note: this may install additional packages,
# depending on the software installed on the machine
$ rosdep update

# be sure to change 'kinetic' to whichever ROS release you are using
$ rosdep install --from-paths src/ --ignore-src --rosdistro kinetic

# build the workspace (using catkin_tools)
$ catkin build

Activating the workspace

Finally, activate the workspace to get access to the packages just built:

$ source $HOME/catkin_ws/devel/setup.bash

At this point all packages should be usable (ie: roslaunch should be able to auto-complete package names starting with abb_..). In case the workspace contains additional packages (ie: not from this repository), those should also still be available.

Installation and usage

Refer to Working With ROS-Industrial Robot Support Packages for information on how to use the files provided by the robot support and MoveIt configuration packages. See also the other pages on the ROS wiki.

Refer to the tutorials for information on installation and configuration of the controller-specific software components.

abb_experimental's People

Contributors

Stargazers

Watchers

Forkers

dpsolomon gavanderhoorn samsagax ephrein asct levi-armstrong culletom liyuanpng jmeyer1292 corona123 ethz-asl oliverek12 marierobot arsymbio shaun-edwards dagunliyu tycho94 austinderic marip8 130s muneebulhaq tstoyanov keerthanamanivannan victordacosta ajshort iirob xuhui shenlirobot stwirth iron-ox jonbinney andychou007 gramaziokohler yichen89 plusone-robotics nsomani haochihlin ipa-nhg tfoote sam-xl wangyanhit stratominc thatrobotguy xiaoironman findzyxu krebsalad kinneyjustin rapyuta-robotics sukeyu81 albaniac fern-and-dough dyson-ido lijianhualeigua jopee99 tecnalia-advancedmanufacturing-robotics clarkmarley tanayabhave tavo-robotas dannyawahby isys-vision rubenoosterwijk 0000duck kingbaby123 vlimit sixer51 crawlab wangwarming stevelong-lab price-h16 leonz1998 shipengqq renpengxin victoriabai hshose dignakov feifanrensheng manuelko bastiansolutionsrandd ros-robot-series cbuchxrn youwv lukasmatejov farshbafdoustar foreasy1 jdlangs deepak-ajayakumar stephanie-eng herrvonregen ulc-robotics dpuigbo wggle jacky-ch93 uhpc1168 ibois-epfl raghavvs roboheavy hyundai-robotics-autonomous-engineering alessioprini hung17014 kedarnathv

abb_experimental's Issues

irb120: 'odd' transforms between joints

Some of the joints in the IRB 120 (T) urdfs have transforms where a translation is defined over more than 1 axis, and for which these translations are sometimes very small (< 1mm fi). While this is perfectly legal, most industrial robots have relatively simple kinematic chains, where axes are only offset in one dimension.

The base->tool0 transform is probably ok, but transforming points into any of the intermediate frames could give incorrect results (when compared to the industrial controller).

This may be a consequence of using the SolidWorks to URDF converter, as it has a tendency to place joints at strange locations.

irb120: meshes can probably be decimated

Not really high-priority, but some of the visual meshes can probably be decimated a bit. That shouldn't have an effect on visual quality.

Define ABB specific naming rules/guidelines

Split of from #19.

Current suggestion:

Appendix A: Vendor specific naming

ABB

Variant names for ABB manipulators may include a modifier (indicating support for a particular feature, or a physical characteristic of the variant), a payload specification (one or more digits, indicating maximum supported payload in kg) and finally a specification of the reach of the arm (in meters). Examples: IRB 1600 - 10 / 1.2 and IRB 4400L - 10.

All ABB support packages shall be named using the following template:

  abb_irbMODEL_support

Note that this template omits the modifier, payload and reach components included in the actual product name.

All artefacts within ABB support, MoveIt configuration and plugin packages shall be named using the following template:

  abb_irbMODEL[MODIFIER]_PAYLOAD_REACH

Where MODEL is a numeric string, MODIFIER is a string, PAYLOAD is a numeric string (max payload in kg) and REACH is a numeric string (reach converted to centimeters, avoiding fractional numbers).

If a particular model does not have variants based on reach, the REACH component should be omitted from the ROS-Industrial name as well.

Examples: abb_irb1600_10_120 and abb_irb4400l_10.

ERROR: the following packages/stacks could not have their rosdep keys resolved to system dependencies:

when I run '' rosdep install --from-paths src/ --ignore-src --rosdistro kinetic'' ,appending the issue

WARNING: given --rosdistro kinetic but ROS_DISTRO is "melodic". Ignoring environment.
ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
abb_irb120_gazebo: No definition of [ros_controllers] for OS version [bionic]
abb_irb1200_gazebo: No definition of [joint_trajectory_controller] for OS version [bionic]
abb_irb1200_5_90_moveit_config: No definition of [trac_ik_kinematics_plugin] for OS version [bionic]
abb_irb1200_7_70_moveit_config: No definition of [trac_ik_kinematics_plugin] for OS version [bionic]
abb_irb1600_6_12_moveit_config: No definition of [trac_ik_kinematics_plugin] for OS version [bionic]

irb120: collision material yellow should be rgba="1 1 0 1"

Typo in irb1600_6_12_macro.xacro file

In the particular line on the following link, the curly brackets for ${pi/2} isn't closed.
@gavanderhoorn

https://github.com/ros-industrial/abb_experimental/blob/kinetic-devel/abb_irb1600_support/urdf/irb1600_6_12_macro.xacro#L168

why abb ibr1410 is not supported?

irb120: tool0 does not match the controller tool0

all: incorrect maintainer email addresses

Many packages still list @shaun-edwards's old SwRI email in the maintainer tag.

This should either be updated to a current address, or the maintainer tag should be updated to reflect who is the current maintainer of these packages (@Levi-Armstrong?).

Make indigo-devel branch the default branch

Mainly to avoid confusing users.

Support packages have run_depend/exec_depend on rviz

We like to keep packages that are meant to be deployed on a robot with as few dependencies as possible.
The *_support packages in this repository have run_depend/exec_depend dependencies on rviz:

abb_experimental/abb_irb1200_support/package.xml

Lines 39 to 45 in e5470cb

 
 <run_depend>abb_driver</run_depend> 

 <run_depend>joint_state_publisher</run_depend> 

 <run_depend>robot_state_publisher</run_depend> 

 <run_depend>rviz</run_depend> 

 <run_depend>xacro</run_depend>

Wouldn't it be "cleaner" to separate the robot description part from the robot visualization part?

Transition robot models to main repository

The irb120, irb120t, and irb4400 have all been in this repository for > 2 years and should be transitioned to the main abb repo.

Remaining Issues for IRB52

Remove tabs in test launch files.
Make use_gui parameter a private member of the joint_state_publisher node.
Add readme.md. See here.
Remove tabs from the xacro files.
Change xacro.py -> xacro

Some warnings when I build with ROS1 Noetic.

Hello, can you help me with these warnings? They are link to these packages :

abb_irb2400_moveit_plugins ;
abb_irb120_support.

I show you warnings :

abb_irb2400_moveit_plugins :
abb_irb120_support :

Thanks a lot.

Uppercase file extension on meshes in irb4400l30

collision and visual meshes have uppercase filenames (*.STL). The style guide on the wiki has a preference for everything to be lower case.

How to integrate new robots?

Can you show a gudeline to how to integrate robots that arent available here like IRB 360 Flex picker for instance?

I can find some ways to turn CAD models to UDSF but they look wrong and broken.

And this only imports shape of it . Individiual parts needs to be configured seperately , but cant find any source how to proceed with it . Since I'm not mechnical engineer rather a software engineer it is hard to keep up mechanical terms so it would be lovely if you could tell it in terms of layman

how to generate urdf files ?

Readme.md is deprecated regarding existing ros distributions

How can I generate these urdf files ?

metapackage has run_depends on packages in main abb stack

Copy/pasta errors?

gazebo: explicitly mention Gazebo versions pkgs have been tested with / setup for

Breaking changes introduced when going from v2 to v5 (v6/v7) should be accounted for. Explicitly stating the compatible versions will avoid a lot of frustration.

missing 'abb' prefix on irb4400l30 xacro macro name

As per subject:
<xacro:macro name="irb4400l30" params="prefix">

The actual files (urdf, xacro, _macro.xacro) don't need the prefix, but the name of the xacro macro does. This to be able to unambiguously refer to it from within other xacros.

package for ROS2?

I was hopping there will be a package for ROS2 with cmake build. Thanks!

abb_irb4400_support package needs updating

Urdf files need to be updated and formatted to new standard. This includes validating limit values and joint transforms.

Dependency on abb_driver

I am currently configuring a new robot cell with an ABB IRB1200, and am therefore using this package for the URDF of the manipulator. I plan on using the new abb_robot_driver, but I noticed during the build tests I ran that the packages in this repository still depend on the old abb_driver.

Are there any plans to migrate this to the new driver or make this repository agnostic to the driver used?

readme: build instructions incomplete

The build instructions in the readme are incomplete, as they don't include a rosdep install .. step or tell users to make sure they have catkin_tools installed.

ROS2 package?

Looking forward to a ROS2 version package! :) thanks!

irb1200_5_90: incorrect base_link -> link_1 transform

abb_irb1200_support/urdf/irb1200_5_90_macro.xacro currently specifies a base_link -> link_1 transform of 0.399 m in the Z direction, while the documentation gives 0.3991 m in the Z direction.

I used the IRB 1200 Product Specification, section 1.1.2, page 16.

Minor, but enough to cause deviations between ROS TF and the robot controller.

Axis six rotate 360 degrees when using move_group to control ABB120

ubuntu 14.04 ROS：indigo

$ roslaunch abb_irb120_moveit_config moveit_planning_execution.launch
$ rosrun lesson_move_group lesson_move_group_1

The code in lesson_move_group_1 is :

#include <ros/ros.h>
#include <moveit/move_group_interface/move_group.h>
int main(int argc, char **argv)
{
ros::init(argc, argv, "lesson_move_group");
ros::AsyncSpinner spinner(1); 
spinner.start(); 
moveit::planning_interface::MoveGroup group("manipulator");
geometry_msgs::Pose target_pose;
target_pose.position.x=0.275;
target_pose.position.y=0.000;
target_pose.position.z=0.260;
target_pose.orientation.x = 0.0;
target_pose.orientation.y = 0.7071;
target_pose.orientation.z = 0.0;
target_pose.orientation.w = 0.7071;
group.setPoseTarget(target_pose);
group.move();
geometry_msgs::Pose target_pose1;
target_pose1.position.x=0.275;
target_pose1.position.y=0.064;
target_pose1.position.z=0.217;
target_pose1.orientation.x = 0.0;
target_pose1.orientation.y = 0.7071;
target_pose1.orientation.z = 0.0;
target_pose1.orientation.w = 0.7071;
group.setPoseTarget(target_pose1);
group.move();
geometry_msgs::Pose target_pose2;
target_pose2.position.x=0.275;
target_pose2.position.y=0.063;
target_pose2.position.z=0.216;
target_pose2.orientation.x = 0.0;
target_pose2.orientation.y = 0.7071;
target_pose2.orientation.z = 0.0;
target_pose2.orientation.w = 0.7071;
group.setPoseTarget(target_pose2);
group.move();
geometry_msgs::Pose target_pose3;
target_pose3.position.x=0.275;
target_pose3.position.y=0.062;
target_pose3.position.z=0.216;
target_pose3.orientation.x = 0.0;
target_pose3.orientation.y = 0.7071;
target_pose3.orientation.z = 0.0;
target_pose3.orientation.w = 0.7071;
group.setPoseTarget(target_pose3);
group.move();
geometry_msgs::Pose target_pose4;
target_pose4.position.x=0.275;
target_pose4.position.y=0.061;
target_pose4.position.z=0.216;
target_pose4.orientation.x = 0.0;
target_pose4.orientation.y = 0.7071;
target_pose4.orientation.z = 0.0;
target_pose4.orientation.w = 0.7071;
group.setPoseTarget(target_pose4);
group.move();
geometry_msgs::Pose target_pose5;
target_pose5.position.x=0.275;
target_pose5.position.y=0.06;
target_pose5.position.z=0.216;
target_pose5.orientation.x = 0.0;
target_pose5.orientation.y = 0.7071;
target_pose5.orientation.z = 0.0;
target_pose5.orientation.w = 0.7071;
group.setPoseTarget(target_pose5);
group.move();
geometry_msgs::Pose target_pose6;
target_pose6.position.x=0.276;
target_pose6.position.y=0.059;
target_pose6.position.z=0.216;
target_pose6.orientation.x = 0.0;
target_pose6.orientation.y = 0.7071;
target_pose6.orientation.z = 0.0;
target_pose6.orientation.w = 0.7071;
group.setPoseTarget(target_pose6);
group.move();
geometry_msgs::Pose target_pose7;
target_pose7.position.x=0.276;
target_pose7.position.y=0.058;
target_pose7.position.z=0.216;
target_pose7.orientation.x = 0.0;
target_pose7.orientation.y = 0.7071;
target_pose7.orientation.z = 0.0;
target_pose7.orientation.w = 0.7071;
group.setPoseTarget(target_pose7);
group.move();
geometry_msgs::Pose target_pose8;
target_pose8.position.x=0.276;
target_pose8.position.y=0.057;
target_pose8.position.z=0.216;
target_pose8.orientation.x = 0.0;
target_pose8.orientation.y = 0.7071;
target_pose8.orientation.z = 0.0;
target_pose8.orientation.w = 0.7071;
group.setPoseTarget(target_pose8);
group.move();
geometry_msgs::Pose target_pose9;
target_pose9.position.x=0.276;
target_pose9.position.y=0.056;
target_pose9.position.z=0.216;
target_pose9.orientation.x = 0.0;
target_pose9.orientation.y = 0.7071;
target_pose9.orientation.z = 0.0;
target_pose9.orientation.w = 0.7071;
group.setPoseTarget(target_pose9);
group.move();
geometry_msgs::Pose target_pose10;
target_pose10.position.x=0.276;
target_pose10.position.y=0.055;
target_pose10.position.z=0.216;
target_pose10.orientation.x = 0.0;
target_pose10.orientation.y = 0.7071;
target_pose10.orientation.z = 0.0;
target_pose10.orientation.w = 0.7071;
group.setPoseTarget(target_pose10);
group.move();
geometry_msgs::Pose target_pose11;
target_pose11.position.x=0.277;
target_pose11.position.y=0.054;
target_pose11.position.z=0.216;
target_pose11.orientation.x = 0.0;
target_pose11.orientation.y = 0.7071;
target_pose11.orientation.z = 0.0;
target_pose11.orientation.w = 0.7071;
group.setPoseTarget(target_pose11);
group.move();
geometry_msgs::Pose target_pose12;
target_pose12.position.x=0.277;
target_pose12.position.y=0.053;
target_pose12.position.z=0.216;
target_pose12.orientation.x = 0.0;
target_pose12.orientation.y = 0.7071;
target_pose12.orientation.z = 0.0;
target_pose12.orientation.w = 0.7071;
group.setPoseTarget(target_pose12);
group.move();
geometry_msgs::Pose target_pose13;
target_pose13.position.x=0.277;
target_pose13.position.y=0.052;
target_pose13.position.z=0.216;
target_pose13.orientation.x = 0.0;
target_pose13.orientation.y = 0.7071;
target_pose13.orientation.z = 0.0;
target_pose13.orientation.w = 0.7071;
group.setPoseTarget(target_pose13);
group.move();
geometry_msgs::Pose target_pose14;
target_pose14.position.x=0.277;
target_pose14.position.y=0.051;
target_pose14.position.z=0.216;
target_pose14.orientation.x = 0.0;
target_pose14.orientation.y = 0.7071;
target_pose14.orientation.z = 0.0;
target_pose14.orientation.w = 0.7071;
group.setPoseTarget(target_pose14);
group.move();
geometry_msgs::Pose target_pose15;
target_pose15.position.x=0.278;
target_pose15.position.y=0.05;
target_pose15.position.z=0.216;
target_pose15.orientation.x = 0.0;
target_pose15.orientation.y = 0.7071;
target_pose15.orientation.z = 0.0;
target_pose15.orientation.w = 0.7071;
group.setPoseTarget(target_pose15);
group.move();
geometry_msgs::Pose target_pose16;
target_pose16.position.x=0.278;
target_pose16.position.y=0.049;
target_pose16.position.z=0.216;
target_pose16.orientation.x = 0.0;
target_pose16.orientation.y = 0.7071;
target_pose16.orientation.z = 0.0;
target_pose16.orientation.w = 0.7071;
group.setPoseTarget(target_pose16);
group.move();
geometry_msgs::Pose target_pose17;
target_pose17.position.x=0.278;
target_pose17.position.y=0.048;
target_pose17.position.z=0.216;
target_pose17.orientation.x = 0.0;
target_pose17.orientation.y = 0.7071;
target_pose17.orientation.z = 0.0;
target_pose17.orientation.w = 0.7071;
group.setPoseTarget(target_pose17);
group.move();
geometry_msgs::Pose target_pose18;
target_pose18.position.x=0.28;
target_pose18.position.y=0.045;
target_pose18.position.z=0.216;
target_pose18.orientation.x = 0.0;
target_pose18.orientation.y = 0.7071;
target_pose18.orientation.z = 0.0;
target_pose18.orientation.w = 0.7071;
group.setPoseTarget(target_pose18);
group.move();
geometry_msgs::Pose target_pose19;
target_pose19.position.x=0.28;
target_pose19.position.y=0.044;
target_pose19.position.z=0.216;
target_pose19.orientation.x = 0.0;
target_pose19.orientation.y = 0.7071;
target_pose19.orientation.z = 0.0;
target_pose19.orientation.w = 0.7071;
group.setPoseTarget(target_pose19);
group.move();
geometry_msgs::Pose target_pose20;
target_pose20.position.x=0.28;
target_pose20.position.y=0.043;
target_pose20.position.z=0.216;
target_pose20.orientation.x = 0.0;
target_pose20.orientation.y = 0.7071;
target_pose20.orientation.z = 0.0;
target_pose20.orientation.w = 0.7071;
group.setPoseTarget(target_pose20);
group.move();
geometry_msgs::Pose target_pose21;
target_pose21.position.x=0.28;
target_pose21.position.y=0.042;
target_pose21.position.z=0.216;
target_pose21.orientation.x = 0.0;
target_pose21.orientation.y = 0.7071;
target_pose21.orientation.z = 0.0;
target_pose21.orientation.w = 0.7071;
group.setPoseTarget(target_pose21);
group.move();
geometry_msgs::Pose target_pose22;
target_pose22.position.x=0.281;
target_pose22.position.y=0.041;
target_pose22.position.z=0.216;
target_pose22.orientation.x = 0.0;
target_pose22.orientation.y = 0.7071;
target_pose22.orientation.z = 0.0;
target_pose22.orientation.w = 0.7071;
group.setPoseTarget(target_pose22);
group.move();
geometry_msgs::Pose target_pose23;
target_pose23.position.x=0.281;
target_pose23.position.y=0.04;
target_pose23.position.z=0.216;
target_pose23.orientation.x = 0.0;
target_pose23.orientation.y = 0.7071;
target_pose23.orientation.z = 0.0;
target_pose23.orientation.w = 0.7071;
group.setPoseTarget(target_pose23);
group.move();
geometry_msgs::Pose target_pose24;
target_pose24.position.x=0.281;
target_pose24.position.y=0.039;
target_pose24.position.z=0.216;
target_pose24.orientation.x = 0.0;
target_pose24.orientation.y = 0.7071;
target_pose24.orientation.z = 0.0;
target_pose24.orientation.w = 0.7071;
group.setPoseTarget(target_pose24);
group.move();
geometry_msgs::Pose target_pose25;
target_pose25.position.x=0.281;
target_pose25.position.y=0.038;
target_pose25.position.z=0.216;
target_pose25.orientation.x = 0.0;
target_pose25.orientation.y = 0.7071;
target_pose25.orientation.z = 0.0;
target_pose25.orientation.w = 0.7071;
group.setPoseTarget(target_pose25);
group.move();
geometry_msgs::Pose target_pose26;
target_pose26.position.x=0.282;
target_pose26.position.y=0.037;
target_pose26.position.z=0.216;
target_pose26.orientation.x = 0.0;
target_pose26.orientation.y = 0.7071;
target_pose26.orientation.z = 0.0;
target_pose26.orientation.w = 0.7071;
group.setPoseTarget(target_pose26);
group.move();
geometry_msgs::Pose target_pose27;
target_pose27.position.x=0.282;
target_pose27.position.y=0.036;
target_pose27.position.z=0.216;
target_pose27.orientation.x = 0.0;
target_pose27.orientation.y = 0.7071;
target_pose27.orientation.z = 0.0;
target_pose27.orientation.w = 0.7071;
group.setPoseTarget(target_pose27);
group.move();
geometry_msgs::Pose target_pose28;
target_pose28.position.x=0.282;
target_pose28.position.y=0.035;
target_pose28.position.z=0.215;
target_pose28.orientation.x = 0.0;
target_pose28.orientation.y = 0.7071;
target_pose28.orientation.z = 0.0;
target_pose28.orientation.w = 0.7071;
group.setPoseTarget(target_pose28);
group.move();
geometry_msgs::Pose target_pose29;
target_pose29.position.x=0.282;
target_pose29.position.y=0.034;
target_pose29.position.z=0.215;
target_pose29.orientation.x = 0.0;
target_pose29.orientation.y = 0.7071;
target_pose29.orientation.z = 0.0;
target_pose29.orientation.w = 0.7071;
group.setPoseTarget(target_pose29);
group.move();
geometry_msgs::Pose target_pose30;
target_pose30.position.x=0.282;
target_pose30.position.y=0.033;
target_pose30.position.z=0.215;
target_pose30.orientation.x = 0.0;
target_pose30.orientation.y = 0.7071;
target_pose30.orientation.z = 0.0;
target_pose30.orientation.w = 0.7071;
group.setPoseTarget(target_pose30);
group.move();
geometry_msgs::Pose target_pose31;
target_pose31.position.x=0.283;
target_pose31.position.y=0.032;
target_pose31.position.z=0.215;
target_pose31.orientation.x = 0.0;
target_pose31.orientation.y = 0.7071;
target_pose31.orientation.z = 0.0;
target_pose31.orientation.w = 0.7071;
group.setPoseTarget(target_pose31);
group.move();
geometry_msgs::Pose target_pose32;
target_pose32.position.x=0.283;
target_pose32.position.y=0.031;
target_pose32.position.z=0.215;
target_pose32.orientation.x = 0.0;
target_pose32.orientation.y = 0.7071;
target_pose32.orientation.z = 0.0;
target_pose32.orientation.w = 0.7071;
group.setPoseTarget(target_pose32);
group.move();
geometry_msgs::Pose target_pose33;
target_pose33.position.x=0.283;
target_pose33.position.y=0.03;
target_pose33.position.z=0.214;
target_pose33.orientation.x = 0.0;
target_pose33.orientation.y = 0.7071;
target_pose33.orientation.z = 0.0;
target_pose33.orientation.w = 0.7071;
group.setPoseTarget(target_pose33);
group.move();
geometry_msgs::Pose target_pose34;
target_pose34.position.x=0.284;
target_pose34.position.y=0.029;
target_pose34.position.z=0.214;
target_pose34.orientation.x = 0.0;
target_pose34.orientation.y = 0.7071;
target_pose34.orientation.z = 0.0;
target_pose34.orientation.w = 0.7071;
group.setPoseTarget(target_pose34);
group.move();
geometry_msgs::Pose target_pose35;
target_pose35.position.x=0.284;
target_pose35.position.y=0.028;
target_pose35.position.z=0.214;
target_pose35.orientation.x = 0.0;
target_pose35.orientation.y = 0.7071;
target_pose35.orientation.z = 0.0;
target_pose35.orientation.w = 0.7071;
group.setPoseTarget(target_pose35);
group.move();
geometry_msgs::Pose target_pose36;
target_pose36.position.x=0.284;
target_pose36.position.y=0.027;
target_pose36.position.z=0.214;
target_pose36.orientation.x = 0.0;
target_pose36.orientation.y = 0.7071;
target_pose36.orientation.z = 0.0;
target_pose36.orientation.w = 0.7071;
group.setPoseTarget(target_pose36);
group.move();
geometry_msgs::Pose target_pose37;
target_pose37.position.x=0.284;
target_pose37.position.y=0.026;
target_pose37.position.z=0.214;
target_pose37.orientation.x = 0.0;
target_pose37.orientation.y = 0.7071;
target_pose37.orientation.z = 0.0;
target_pose37.orientation.w = 0.7071;
group.setPoseTarget(target_pose37);
group.move();
geometry_msgs::Pose target_pose38;
target_pose38.position.x=0.285;
target_pose38.position.y=0.025;
target_pose38.position.z=0.215;
target_pose38.orientation.x = 0.0;
target_pose38.orientation.y = 0.7071;
target_pose38.orientation.z = 0.0;
target_pose38.orientation.w = 0.7071;
group.setPoseTarget(target_pose38);
group.move();
geometry_msgs::Pose target_pose39;
target_pose39.position.x=0.285;
target_pose39.position.y=0.024;
target_pose39.position.z=0.215;
target_pose39.orientation.x = 0.0;
target_pose39.orientation.y = 0.7071;
target_pose39.orientation.z = 0.0;
target_pose39.orientation.w = 0.7071;
group.setPoseTarget(target_pose39);
group.move();
geometry_msgs::Pose target_pose40;
target_pose40.position.x=0.285;
target_pose40.position.y=0.023;
target_pose40.position.z=0.215;
target_pose40.orientation.x = 0.0;
target_pose40.orientation.y = 0.7071;
target_pose40.orientation.z = 0.0;
target_pose40.orientation.w = 0.7071;
group.setPoseTarget(target_pose40);
group.move();
geometry_msgs::Pose target_pose41;
target_pose41.position.x=0.285;
target_pose41.position.y=0.022;
target_pose41.position.z=0.215;
target_pose41.orientation.x = 0.0;
target_pose41.orientation.y = 0.7071;
target_pose41.orientation.z = 0.0;
target_pose41.orientation.w = 0.7071;
group.setPoseTarget(target_pose41);
group.move();
geometry_msgs::Pose target_pose42;
target_pose42.position.x=0.285;
target_pose42.position.y=0.021;
target_pose42.position.z=0.215;
target_pose42.orientation.x = 0.0;
target_pose42.orientation.y = 0.7071;
target_pose42.orientation.z = 0.0;
target_pose42.orientation.w = 0.7071;
group.setPoseTarget(target_pose42);
group.move();
geometry_msgs::Pose target_pose43;
target_pose43.position.x=0.285;
target_pose43.position.y=0.02;
target_pose43.position.z=0.214;
target_pose43.orientation.x = 0.0;
target_pose43.orientation.y = 0.7071;
target_pose43.orientation.z = 0.0;
target_pose43.orientation.w = 0.7071;
group.setPoseTarget(target_pose43);
group.move();
geometry_msgs::Pose target_pose44;
target_pose44.position.x=0.285;
target_pose44.position.y=0.019;
target_pose44.position.z=0.214;
target_pose44.orientation.x = 0.0;
target_pose44.orientation.y = 0.7071;
target_pose44.orientation.z = 0.0;
target_pose44.orientation.w = 0.7071;
group.setPoseTarget(target_pose44);
group.move();
geometry_msgs::Pose target_pose45;
target_pose45.position.x=0.285;
target_pose45.position.y=0.018;
target_pose45.position.z=0.214;
target_pose45.orientation.x = 0.0;
target_pose45.orientation.y = 0.7071;
target_pose45.orientation.z = 0.0;
target_pose45.orientation.w = 0.7071;
group.setPoseTarget(target_pose45);
group.move();
geometry_msgs::Pose target_pose46;
target_pose46.position.x=0.286;
target_pose46.position.y=0.017;
target_pose46.position.z=0.214;
target_pose46.orientation.x = 0.0;
target_pose46.orientation.y = 0.7071;
target_pose46.orientation.z = 0.0;
target_pose46.orientation.w = 0.7071;
group.setPoseTarget(target_pose46);
group.move();
geometry_msgs::Pose target_pose47;
target_pose47.position.x=0.286;
target_pose47.position.y=0.016;
target_pose47.position.z=0.214;
target_pose47.orientation.x = 0.0;
target_pose47.orientation.y = 0.7071;
target_pose47.orientation.z = 0.0;
target_pose47.orientation.w = 0.7071;
group.setPoseTarget(target_pose47);
group.move();
geometry_msgs::Pose target_pose48;
target_pose48.position.x=0.286;
target_pose48.position.y=0.015;
target_pose48.position.z=0.214;
target_pose48.orientation.x = 0.0;
target_pose48.orientation.y = 0.7071;
target_pose48.orientation.z = 0.0;
target_pose48.orientation.w = 0.7071;
group.setPoseTarget(target_pose48);
group.move();
geometry_msgs::Pose target_pose49;
target_pose49.position.x=0.287;
target_pose49.position.y=0.014;
target_pose49.position.z=0.214;
target_pose49.orientation.x = 0.0;
target_pose49.orientation.y = 0.7071;
target_pose49.orientation.z = 0.0;
target_pose49.orientation.w = 0.7071;
group.setPoseTarget(target_pose49);
group.move();
geometry_msgs::Pose target_pose50;
target_pose50.position.x=0.287;
target_pose50.position.y=0.013;
target_pose50.position.z=0.214;
target_pose50.orientation.x = 0.0;
target_pose50.orientation.y = 0.7071;
target_pose50.orientation.z = 0.0;
target_pose50.orientation.w = 0.7071;
group.setPoseTarget(target_pose50);
group.move();
geometry_msgs::Pose target_pose51;
target_pose51.position.x=0.288;
target_pose51.position.y=0.012;
target_pose51.position.z=0.214;
target_pose51.orientation.x = 0.0;
target_pose51.orientation.y = 0.7071;
target_pose51.orientation.z = 0.0;
target_pose51.orientation.w = 0.7071;
group.setPoseTarget(target_pose51);
group.move();
geometry_msgs::Pose target_pose52;
target_pose52.position.x=0.288;
target_pose52.position.y=0.011;
target_pose52.position.z=0.213;
target_pose52.orientation.x = 0.0;
target_pose52.orientation.y = 0.7071;
target_pose52.orientation.z = 0.0;
target_pose52.orientation.w = 0.7071;
group.setPoseTarget(target_pose52);
group.move();
geometry_msgs::Pose target_pose53;
target_pose53.position.x=0.288;
target_pose53.position.y=0.01;
target_pose53.position.z=0.213;
target_pose53.orientation.x = 0.0;
target_pose53.orientation.y = 0.7071;
target_pose53.orientation.z = 0.0;
target_pose53.orientation.w = 0.7071;
group.setPoseTarget(target_pose53);
group.move();
geometry_msgs::Pose target_pose54;
target_pose54.position.x=0.288;
target_pose54.position.y=0.009;
target_pose54.position.z=0.216;
target_pose54.orientation.x = 0.0;
target_pose54.orientation.y = 0.7071;
target_pose54.orientation.z = 0.0;
target_pose54.orientation.w = 0.7071;
group.setPoseTarget(target_pose54);
group.move();
geometry_msgs::Pose target_pose55;
target_pose55.position.x=0.288;
target_pose55.position.y=0.008;
target_pose55.position.z=0.217;
target_pose55.orientation.x = 0.0;
target_pose55.orientation.y = 0.7071;
target_pose55.orientation.z = 0.0;
target_pose55.orientation.w = 0.7071;
group.setPoseTarget(target_pose55);
group.move();
geometry_msgs::Pose target_pose56;
target_pose56.position.x=0.288;
target_pose56.position.y=0.008;
target_pose56.position.z=0.260;
target_pose56.orientation.x = 0.0;
target_pose56.orientation.y = 0.7071;
target_pose56.orientation.z = 0.0;
target_pose56.orientation.w = 0.7071;
group.setPoseTarget(target_pose56);
group.move();
geometry_msgs::Pose target_pose57;
target_pose57.position.x=0.322;
target_pose57.position.y=0.038;
target_pose57.position.z=0.260;
target_pose57.orientation.x = 0.0;
target_pose57.orientation.y = 0.7071;
target_pose57.orientation.z = 0.0;
target_pose57.orientation.w = 0.7071;
group.setPoseTarget(target_pose57);
group.move();
geometry_msgs::Pose target_pose58;
target_pose58.position.x=0.322;
target_pose58.position.y=0.038;
target_pose58.position.z=0.217;
target_pose58.orientation.x = 0.0;
target_pose58.orientation.y = 0.7071;
target_pose58.orientation.z = 0.0;
target_pose58.orientation.w = 0.7071;
group.setPoseTarget(target_pose58);
group.move();
geometry_msgs::Pose target_pose59;
target_pose59.position.x=0.321;
target_pose59.position.y=0.037;
target_pose59.position.z=0.216;
target_pose59.orientation.x = 0.0;
target_pose59.orientation.y = 0.7071;
target_pose59.orientation.z = 0.0;
target_pose59.orientation.w = 0.7071;
group.setPoseTarget(target_pose59);
group.move();
geometry_msgs::Pose target_pose60;
target_pose60.position.x=0.321;
target_pose60.position.y=0.036;
target_pose60.position.z=0.216;
target_pose60.orientation.x = 0.0;
target_pose60.orientation.y = 0.7071;
target_pose60.orientation.z = 0.0;
target_pose60.orientation.w = 0.7071;
group.setPoseTarget(target_pose60);
group.move();
geometry_msgs::Pose target_pose61;
target_pose61.position.x=0.32;
target_pose61.position.y=0.036;
target_pose61.position.z=0.216;
target_pose61.orientation.x = 0.0;
target_pose61.orientation.y = 0.7071;
target_pose61.orientation.z = 0.0;
target_pose61.orientation.w = 0.7071;
group.setPoseTarget(target_pose61);
group.move();
geometry_msgs::Pose target_pose62;
target_pose62.position.x=0.32;
target_pose62.position.y=0.035;
target_pose62.position.z=0.216;
target_pose62.orientation.x = 0.0;
target_pose62.orientation.y = 0.7071;
target_pose62.orientation.z = 0.0;
target_pose62.orientation.w = 0.7071;
group.setPoseTarget(target_pose62);
group.move();
geometry_msgs::Pose target_pose63;
target_pose63.position.x=0.319;
target_pose63.position.y=0.035;
target_pose63.position.z=0.216;
target_pose63.orientation.x = 0.0;
target_pose63.orientation.y = 0.7071;
target_pose63.orientation.z = 0.0;
target_pose63.orientation.w = 0.7071;
group.setPoseTarget(target_pose63);
group.move();
geometry_msgs::Pose target_pose64;
target_pose64.position.x=0.319;
target_pose64.position.y=0.034;
target_pose64.position.z=0.216;
target_pose64.orientation.x = 0.0;
target_pose64.orientation.y = 0.7071;
target_pose64.orientation.z = 0.0;
target_pose64.orientation.w = 0.7071;
group.setPoseTarget(target_pose64);
group.move();
geometry_msgs::Pose target_pose65;
target_pose65.position.x=0.318;
target_pose65.position.y=0.034;
target_pose65.position.z=0.216;
target_pose65.orientation.x = 0.0;
target_pose65.orientation.y = 0.7071;
target_pose65.orientation.z = 0.0;
target_pose65.orientation.w = 0.7071;
group.setPoseTarget(target_pose65);
group.move();
geometry_msgs::Pose target_pose66;
target_pose66.position.x=0.317;
target_pose66.position.y=0.033;
target_pose66.position.z=0.215;
target_pose66.orientation.x = 0.0;
target_pose66.orientation.y = 0.7071;
target_pose66.orientation.z = 0.0;
target_pose66.orientation.w = 0.7071;
group.setPoseTarget(target_pose66);
group.move();
geometry_msgs::Pose target_pose67;
target_pose67.position.x=0.316;
target_pose67.position.y=0.032;
target_pose67.position.z=0.215;
target_pose67.orientation.x = 0.0;
target_pose67.orientation.y = 0.7071;
target_pose67.orientation.z = 0.0;
target_pose67.orientation.w = 0.7071;
group.setPoseTarget(target_pose67);
group.move();
geometry_msgs::Pose target_pose68;
target_pose68.position.x=0.315;
target_pose68.position.y=0.032;
target_pose68.position.z=0.215;
target_pose68.orientation.x = 0.0;
target_pose68.orientation.y = 0.7071;
target_pose68.orientation.z = 0.0;
target_pose68.orientation.w = 0.7071;
group.setPoseTarget(target_pose68);
group.move();
geometry_msgs::Pose target_pose69;
target_pose69.position.x=0.314;
target_pose69.position.y=0.031;
target_pose69.position.z=0.214;
target_pose69.orientation.x = 0.0;
target_pose69.orientation.y = 0.7071;
target_pose69.orientation.z = 0.0;
target_pose69.orientation.w = 0.7071;
group.setPoseTarget(target_pose69);
group.move();
geometry_msgs::Pose target_pose70;
target_pose70.position.x=0.313;
target_pose70.position.y=0.031;
target_pose70.position.z=0.215;
target_pose70.orientation.x = 0.0;
target_pose70.orientation.y = 0.7071;
target_pose70.orientation.z = 0.0;
target_pose70.orientation.w = 0.7071;
group.setPoseTarget(target_pose70);
group.move();
geometry_msgs::Pose target_pose71;
target_pose71.position.x=0.312;
target_pose71.position.y=0.03;
target_pose71.position.z=0.214;
target_pose71.orientation.x = 0.0;
target_pose71.orientation.y = 0.7071;
target_pose71.orientation.z = 0.0;
target_pose71.orientation.w = 0.7071;
group.setPoseTarget(target_pose71);
group.move();
geometry_msgs::Pose target_pose72;
target_pose72.position.x=0.311;
target_pose72.position.y=0.03;
target_pose72.position.z=0.214;
target_pose72.orientation.x = 0.0;
target_pose72.orientation.y = 0.7071;
target_pose72.orientation.z = 0.0;
target_pose72.orientation.w = 0.7071;
group.setPoseTarget(target_pose72);
group.move();
geometry_msgs::Pose target_pose73;
target_pose73.position.x=0.31;
target_pose73.position.y=0.03;
target_pose73.position.z=0.214;
target_pose73.orientation.x = 0.0;
target_pose73.orientation.y = 0.7071;
target_pose73.orientation.z = 0.0;
target_pose73.orientation.w = 0.7071;
group.setPoseTarget(target_pose73);
group.move();
geometry_msgs::Pose target_pose74;
target_pose74.position.x=0.309;
target_pose74.position.y=0.03;
target_pose74.position.z=0.214;
target_pose74.orientation.x = 0.0;
target_pose74.orientation.y = 0.7071;
target_pose74.orientation.z = 0.0;
target_pose74.orientation.w = 0.7071;
group.setPoseTarget(target_pose74);
group.move();
geometry_msgs::Pose target_pose75;
target_pose75.position.x=0.308;
target_pose75.position.y=0.03;
target_pose75.position.z=0.214;
target_pose75.orientation.x = 0.0;
target_pose75.orientation.y = 0.7071;
target_pose75.orientation.z = 0.0;
target_pose75.orientation.w = 0.7071;
group.setPoseTarget(target_pose75);
group.move();
geometry_msgs::Pose target_pose76;
target_pose76.position.x=0.307;
target_pose76.position.y=0.03;
target_pose76.position.z=0.214;
target_pose76.orientation.x = 0.0;
target_pose76.orientation.y = 0.7071;
target_pose76.orientation.z = 0.0;
target_pose76.orientation.w = 0.7071;
group.setPoseTarget(target_pose76);
group.move();
geometry_msgs::Pose target_pose77;
target_pose77.position.x=0.306;
target_pose77.position.y=0.03;
target_pose77.position.z=0.214;
target_pose77.orientation.x = 0.0;
target_pose77.orientation.y = 0.7071;
target_pose77.orientation.z = 0.0;
target_pose77.orientation.w = 0.7071;
group.setPoseTarget(target_pose77);
group.move();
geometry_msgs::Pose target_pose78;
target_pose78.position.x=0.305;
target_pose78.position.y=0.03;
target_pose78.position.z=0.214;
target_pose78.orientation.x = 0.0;
target_pose78.orientation.y = 0.7071;
target_pose78.orientation.z = 0.0;
target_pose78.orientation.w = 0.7071;
group.setPoseTarget(target_pose78);
group.move();
geometry_msgs::Pose target_pose79;
target_pose79.position.x=0.304;
target_pose79.position.y=0.03;
target_pose79.position.z=0.214;
target_pose79.orientation.x = 0.0;
target_pose79.orientation.y = 0.7071;
target_pose79.orientation.z = 0.0;
target_pose79.orientation.w = 0.7071;
group.setPoseTarget(target_pose79);
group.move();
geometry_msgs::Pose target_pose80;
target_pose80.position.x=0.303;
target_pose80.position.y=0.03;
target_pose80.position.z=0.214;
target_pose80.orientation.x = 0.0;
target_pose80.orientation.y = 0.7071;
target_pose80.orientation.z = 0.0;
target_pose80.orientation.w = 0.7071;
group.setPoseTarget(target_pose80);
group.move();
geometry_msgs::Pose target_pose81;
target_pose81.position.x=0.302;
target_pose81.position.y=0.03;
target_pose81.position.z=0.214;
target_pose81.orientation.x = 0.0;
target_pose81.orientation.y = 0.7071;
target_pose81.orientation.z = 0.0;
target_pose81.orientation.w = 0.7071;
group.setPoseTarget(target_pose81);
group.move();
geometry_msgs::Pose target_pose82;
target_pose82.position.x=0.301;
target_pose82.position.y=0.03;
target_pose82.position.z=0.214;
target_pose82.orientation.x = 0.0;
target_pose82.orientation.y = 0.7071;
target_pose82.orientation.z = 0.0;
target_pose82.orientation.w = 0.7071;
group.setPoseTarget(target_pose82);
group.move();
geometry_msgs::Pose target_pose83;
target_pose83.position.x=0.3;
target_pose83.position.y=0.03;
target_pose83.position.z=0.214;
target_pose83.orientation.x = 0.0;
target_pose83.orientation.y = 0.7071;
target_pose83.orientation.z = 0.0;
target_pose83.orientation.w = 0.7071;
group.setPoseTarget(target_pose83);
group.move();
geometry_msgs::Pose target_pose84;
target_pose84.position.x=0.299;
target_pose84.position.y=0.03;
target_pose84.position.z=0.214;
target_pose84.orientation.x = 0.0;
target_pose84.orientation.y = 0.7071;
target_pose84.orientation.z = 0.0;
target_pose84.orientation.w = 0.7071;
group.setPoseTarget(target_pose84);
group.move();
geometry_msgs::Pose target_pose85;
target_pose85.position.x=0.298;
target_pose85.position.y=0.03;
target_pose85.position.z=0.214;
target_pose85.orientation.x = 0.0;
target_pose85.orientation.y = 0.7071;
target_pose85.orientation.z = 0.0;
target_pose85.orientation.w = 0.7071;
group.setPoseTarget(target_pose85);
group.move();
geometry_msgs::Pose target_pose86;
target_pose86.position.x=0.297;
target_pose86.position.y=0.03;
target_pose86.position.z=0.215;
target_pose86.orientation.x = 0.0;
target_pose86.orientation.y = 0.7071;
target_pose86.orientation.z = 0.0;
target_pose86.orientation.w = 0.7071;
group.setPoseTarget(target_pose86);
group.move();
geometry_msgs::Pose target_pose87;
target_pose87.position.x=0.296;
target_pose87.position.y=0.03;
target_pose87.position.z=0.215;
target_pose87.orientation.x = 0.0;
target_pose87.orientation.y = 0.7071;
target_pose87.orientation.z = 0.0;
target_pose87.orientation.w = 0.7071;
group.setPoseTarget(target_pose87);
group.move();
geometry_msgs::Pose target_pose88;
target_pose88.position.x=0.295;
target_pose88.position.y=0.03;
target_pose88.position.z=0.215;
target_pose88.orientation.x = 0.0;
target_pose88.orientation.y = 0.7071;
target_pose88.orientation.z = 0.0;
target_pose88.orientation.w = 0.7071;
group.setPoseTarget(target_pose88);
group.move();
geometry_msgs::Pose target_pose89;
target_pose89.position.x=0.294;
target_pose89.position.y=0.03;
target_pose89.position.z=0.215;
target_pose89.orientation.x = 0.0;
target_pose89.orientation.y = 0.7071;
target_pose89.orientation.z = 0.0;
target_pose89.orientation.w = 0.7071;
group.setPoseTarget(target_pose89);
group.move();
geometry_msgs::Pose target_pose90;
target_pose90.position.x=0.293;
target_pose90.position.y=0.03;
target_pose90.position.z=0.215;
target_pose90.orientation.x = 0.0;
target_pose90.orientation.y = 0.7071;
target_pose90.orientation.z = 0.0;
target_pose90.orientation.w = 0.7071;
group.setPoseTarget(target_pose90);
group.move();
geometry_msgs::Pose target_pose91;
target_pose91.position.x=0.292;
target_pose91.position.y=0.03;
target_pose91.position.z=0.215;
target_pose91.orientation.x = 0.0;
target_pose91.orientation.y = 0.7071;
target_pose91.orientation.z = 0.0;
target_pose91.orientation.w = 0.7071;
group.setPoseTarget(target_pose91);
group.move();
geometry_msgs::Pose target_pose92;
target_pose92.position.x=0.291;
target_pose92.position.y=0.03;
target_pose92.position.z=0.215;
target_pose92.orientation.x = 0.0;
target_pose92.orientation.y = 0.7071;
target_pose92.orientation.z = 0.0;
target_pose92.orientation.w = 0.7071;
group.setPoseTarget(target_pose92);
group.move();
geometry_msgs::Pose target_pose93;
target_pose93.position.x=0.29;
target_pose93.position.y=0.03;
target_pose93.position.z=0.215;
target_pose93.orientation.x = 0.0;
target_pose93.orientation.y = 0.7071;
target_pose93.orientation.z = 0.0;
target_pose93.orientation.w = 0.7071;
group.setPoseTarget(target_pose93);
group.move();
geometry_msgs::Pose target_pose94;
target_pose94.position.x=0.289;
target_pose94.position.y=0.03;
target_pose94.position.z=0.215;
target_pose94.orientation.x = 0.0;
target_pose94.orientation.y = 0.7071;
target_pose94.orientation.z = 0.0;
target_pose94.orientation.w = 0.7071;
group.setPoseTarget(target_pose94);
group.move();
geometry_msgs::Pose target_pose95;
target_pose95.position.x=0.288;
target_pose95.position.y=0.03;
target_pose95.position.z=0.215;
target_pose95.orientation.x = 0.0;
target_pose95.orientation.y = 0.7071;
target_pose95.orientation.z = 0.0;
target_pose95.orientation.w = 0.7071;
group.setPoseTarget(target_pose95);
group.move();
geometry_msgs::Pose target_pose96;
target_pose96.position.x=0.287;
target_pose96.position.y=0.03;
target_pose96.position.z=0.215;
target_pose96.orientation.x = 0.0;
target_pose96.orientation.y = 0.7071;
target_pose96.orientation.z = 0.0;
target_pose96.orientation.w = 0.7071;
group.setPoseTarget(target_pose96);
group.move();
geometry_msgs::Pose target_pose97;
target_pose97.position.x=0.286;
target_pose97.position.y=0.03;
target_pose97.position.z=0.215;
target_pose97.orientation.x = 0.0;
target_pose97.orientation.y = 0.7071;
target_pose97.orientation.z = 0.0;
target_pose97.orientation.w = 0.7071;
group.setPoseTarget(target_pose97);
group.move();
geometry_msgs::Pose target_pose98;
target_pose98.position.x=0.285;
target_pose98.position.y=0.03;
target_pose98.position.z=0.215;
target_pose98.orientation.x = 0.0;
target_pose98.orientation.y = 0.7071;
target_pose98.orientation.z = 0.0;
target_pose98.orientation.w = 0.7071;
group.setPoseTarget(target_pose98);
group.move();
geometry_msgs::Pose target_pose99;
target_pose99.position.x=0.282;
target_pose99.position.y=0.031;
target_pose99.position.z=0.215;
target_pose99.orientation.x = 0.0;
target_pose99.orientation.y = 0.7071;
target_pose99.orientation.z = 0.0;
target_pose99.orientation.w = 0.7071;
group.setPoseTarget(target_pose99);
group.move();
geometry_msgs::Pose target_pose100;
target_pose100.position.x=0.281;
target_pose100.position.y=0.031;
target_pose100.position.z=0.215;
target_pose100.orientation.x = 0.0;
target_pose100.orientation.y = 0.7071;
target_pose100.orientation.z = 0.0;
target_pose100.orientation.w = 0.7071;
group.setPoseTarget(target_pose100);
group.move();
geometry_msgs::Pose target_pose101;
target_pose101.position.x=0.28;
target_pose101.position.y=0.031;
target_pose101.position.z=0.215;
target_pose101.orientation.x = 0.0;
target_pose101.orientation.y = 0.7071;
target_pose101.orientation.z = 0.0;
target_pose101.orientation.w = 0.7071;
group.setPoseTarget(target_pose101);
group.move();
geometry_msgs::Pose target_pose102;
target_pose102.position.x=0.279;
target_pose102.position.y=0.031;
target_pose102.position.z=0.215;
target_pose102.orientation.x = 0.0;
target_pose102.orientation.y = 0.7071;
target_pose102.orientation.z = 0.0;
target_pose102.orientation.w = 0.7071;
group.setPoseTarget(target_pose102);
group.move();
geometry_msgs::Pose target_pose103;
target_pose103.position.x=0.278;
target_pose103.position.y=0.031;
target_pose103.position.z=0.215;
target_pose103.orientation.x = 0.0;
target_pose103.orientation.y = 0.7071;
target_pose103.orientation.z = 0.0;
target_pose103.orientation.w = 0.7071;
group.setPoseTarget(target_pose103);
group.move();
geometry_msgs::Pose target_pose104;
target_pose104.position.x=0.277;
target_pose104.position.y=0.031;
target_pose104.position.z=0.215;
target_pose104.orientation.x = 0.0;
target_pose104.orientation.y = 0.7071;
target_pose104.orientation.z = 0.0;
target_pose104.orientation.w = 0.7071;
group.setPoseTarget(target_pose104);
group.move();
geometry_msgs::Pose target_pose105;
target_pose105.position.x=0.276;
target_pose105.position.y=0.031;
target_pose105.position.z=0.215;
target_pose105.orientation.x = 0.0;
target_pose105.orientation.y = 0.7071;
target_pose105.orientation.z = 0.0;
target_pose105.orientation.w = 0.7071;
group.setPoseTarget(target_pose105);
group.move();
geometry_msgs::Pose target_pose106;
target_pose106.position.x=0.275;
target_pose106.position.y=0.031;
target_pose106.position.z=0.215;
target_pose106.orientation.x = 0.0;
target_pose106.orientation.y = 0.7071;
target_pose106.orientation.z = 0.0;
target_pose106.orientation.w = 0.7071;
group.setPoseTarget(target_pose106);
group.move();
geometry_msgs::Pose target_pose107;
target_pose107.position.x=0.274;
target_pose107.position.y=0.031;
target_pose107.position.z=0.215;
target_pose107.orientation.x = 0.0;
target_pose107.orientation.y = 0.7071;
target_pose107.orientation.z = 0.0;
target_pose107.orientation.w = 0.7071;
group.setPoseTarget(target_pose107);
group.move();
geometry_msgs::Pose target_pose108;
target_pose108.position.x=0.273;
target_pose108.position.y=0.031;
target_pose108.position.z=0.215;
target_pose108.orientation.x = 0.0;
target_pose108.orientation.y = 0.7071;
target_pose108.orientation.z = 0.0;
target_pose108.orientation.w = 0.7071;
group.setPoseTarget(target_pose108);
group.move();
geometry_msgs::Pose target_pose109;
target_pose109.position.x=0.272;
target_pose109.position.y=0.032;
target_pose109.position.z=0.215;
target_pose109.orientation.x = 0.0;
target_pose109.orientation.y = 0.7071;
target_pose109.orientation.z = 0.0;
target_pose109.orientation.w = 0.7071;
group.setPoseTarget(target_pose109);
group.move();
geometry_msgs::Pose target_pose110;
target_pose110.position.x=0.271;
target_pose110.position.y=0.032;
target_pose110.position.z=0.215;
target_pose110.orientation.x = 0.0;
target_pose110.orientation.y = 0.7071;
target_pose110.orientation.z = 0.0;
target_pose110.orientation.w = 0.7071;
group.setPoseTarget(target_pose110);
group.move();
geometry_msgs::Pose target_pose111;
target_pose111.position.x=0.27;
target_pose111.position.y=0.032;
target_pose111.position.z=0.214;
target_pose111.orientation.x = 0.0;
target_pose111.orientation.y = 0.7071;
target_pose111.orientation.z = 0.0;
target_pose111.orientation.w = 0.7071;
group.setPoseTarget(target_pose111);
group.move();
geometry_msgs::Pose target_pose112;
target_pose112.position.x=0.269;
target_pose112.position.y=0.032;
target_pose112.position.z=0.214;
target_pose112.orientation.x = 0.0;
target_pose112.orientation.y = 0.7071;
target_pose112.orientation.z = 0.0;
target_pose112.orientation.w = 0.7071;
group.setPoseTarget(target_pose112);
group.move();
geometry_msgs::Pose target_pose113;
target_pose113.position.x=0.268;
target_pose113.position.y=0.032;
target_pose113.position.z=0.214;
target_pose113.orientation.x = 0.0;
target_pose113.orientation.y = 0.7071;
target_pose113.orientation.z = 0.0;
target_pose113.orientation.w = 0.7071;
group.setPoseTarget(target_pose113);
group.move();
geometry_msgs::Pose target_pose114;
target_pose114.position.x=0.267;
target_pose114.position.y=0.032;
target_pose114.position.z=0.214;
target_pose114.orientation.x = 0.0;
target_pose114.orientation.y = 0.7071;
target_pose114.orientation.z = 0.0;
target_pose114.orientation.w = 0.7071;
group.setPoseTarget(target_pose114);
group.move();
geometry_msgs::Pose target_pose115;
target_pose115.position.x=0.266;
target_pose115.position.y=0.032;
target_pose115.position.z=0.214;
target_pose115.orientation.x = 0.0;
target_pose115.orientation.y = 0.7071;
target_pose115.orientation.z = 0.0;
target_pose115.orientation.w = 0.7071;
group.setPoseTarget(target_pose115);
group.move();
geometry_msgs::Pose target_pose116;
target_pose116.position.x=0.265;
target_pose116.position.y=0.032;
target_pose116.position.z=0.213;
target_pose116.orientation.x = 0.0;
target_pose116.orientation.y = 0.7071;
target_pose116.orientation.z = 0.0;
target_pose116.orientation.w = 0.7071;
group.setPoseTarget(target_pose116);
group.move();
geometry_msgs::Pose target_pose117;
target_pose117.position.x=0.264;
target_pose117.position.y=0.032;
target_pose117.position.z=0.213;
target_pose117.orientation.x = 0.0;
target_pose117.orientation.y = 0.7071;
target_pose117.orientation.z = 0.0;
target_pose117.orientation.w = 0.7071;
group.setPoseTarget(target_pose117);
group.move();
geometry_msgs::Pose target_pose118;
target_pose118.position.x=0.263;
target_pose118.position.y=0.032;
target_pose118.position.z=0.213;
target_pose118.orientation.x = 0.0;
target_pose118.orientation.y = 0.7071;
target_pose118.orientation.z = 0.0;
target_pose118.orientation.w = 0.7071;
group.setPoseTarget(target_pose118);
group.move();
geometry_msgs::Pose target_pose119;
target_pose119.position.x=0.26;
target_pose119.position.y=0.032;
target_pose119.position.z=0.215;
target_pose119.orientation.x = 0.0;
target_pose119.orientation.y = 0.7071;
target_pose119.orientation.z = 0.0;
target_pose119.orientation.w = 0.7071;
group.setPoseTarget(target_pose119);
group.move();
geometry_msgs::Pose target_pose120;
target_pose120.position.x=0.259;
target_pose120.position.y=0.032;
target_pose120.position.z=0.215;
target_pose120.orientation.x = 0.0;
target_pose120.orientation.y = 0.7071;
target_pose120.orientation.z = 0.0;
target_pose120.orientation.w = 0.7071;
group.setPoseTarget(target_pose120);
group.move();
geometry_msgs::Pose target_pose121;
target_pose121.position.x=0.258;
target_pose121.position.y=0.032;
target_pose121.position.z=0.215;
target_pose121.orientation.x = 0.0;
target_pose121.orientation.y = 0.7071;
target_pose121.orientation.z = 0.0;
target_pose121.orientation.w = 0.7071;
group.setPoseTarget(target_pose121);
group.move();
geometry_msgs::Pose target_pose122;
target_pose122.position.x=0.257;
target_pose122.position.y=0.032;
target_pose122.position.z=0.215;
target_pose122.orientation.x = 0.0;
target_pose122.orientation.y = 0.7071;
target_pose122.orientation.z = 0.0;
target_pose122.orientation.w = 0.7071;
group.setPoseTarget(target_pose122);
group.move();
geometry_msgs::Pose target_pose123;
target_pose123.position.x=0.256;
target_pose123.position.y=0.032;
target_pose123.position.z=0.215;
target_pose123.orientation.x = 0.0;
target_pose123.orientation.y = 0.7071;
target_pose123.orientation.z = 0.0;
target_pose123.orientation.w = 0.7071;
group.setPoseTarget(target_pose123);
group.move();
geometry_msgs::Pose target_pose124;
target_pose124.position.x=0.255;
target_pose124.position.y=0.032;
target_pose124.position.z=0.215;
target_pose124.orientation.x = 0.0;
target_pose124.orientation.y = 0.7071;
target_pose124.orientation.z = 0.0;
target_pose124.orientation.w = 0.7071;
group.setPoseTarget(target_pose124);
group.move();
geometry_msgs::Pose target_pose125;
target_pose125.position.x=0.254;
target_pose125.position.y=0.032;
target_pose125.position.z=0.215;
target_pose125.orientation.x = 0.0;
target_pose125.orientation.y = 0.7071;
target_pose125.orientation.z = 0.0;
target_pose125.orientation.w = 0.7071;
group.setPoseTarget(target_pose125);
group.move();
geometry_msgs::Pose target_pose126;
target_pose126.position.x=0.253;
target_pose126.position.y=0.032;
target_pose126.position.z=0.215;
target_pose126.orientation.x = 0.0;
target_pose126.orientation.y = 0.7071;
target_pose126.orientation.z = 0.0;
target_pose126.orientation.w = 0.7071;
group.setPoseTarget(target_pose126);
group.move();
geometry_msgs::Pose target_pose127;
target_pose127.position.x=0.252;
target_pose127.position.y=0.032;
target_pose127.position.z=0.215;
target_pose127.orientation.x = 0.0;
target_pose127.orientation.y = 0.7071;
target_pose127.orientation.z = 0.0;
target_pose127.orientation.w = 0.7071;
group.setPoseTarget(target_pose127);
group.move();
geometry_msgs::Pose target_pose128;
target_pose128.position.x=0.251;
target_pose128.position.y=0.032;
target_pose128.position.z=0.215;
target_pose128.orientation.x = 0.0;
target_pose128.orientation.y = 0.7071;
target_pose128.orientation.z = 0.0;
target_pose128.orientation.w = 0.7071;
group.setPoseTarget(target_pose128);
group.move();
geometry_msgs::Pose target_pose129;
target_pose129.position.x=0.25;
target_pose129.position.y=0.032;
target_pose129.position.z=0.215;
target_pose129.orientation.x = 0.0;
target_pose129.orientation.y = 0.7071;
target_pose129.orientation.z = 0.0;
target_pose129.orientation.w = 0.7071;
group.setPoseTarget(target_pose129);
group.move();
geometry_msgs::Pose target_pose130;
target_pose130.position.x=0.249;
target_pose130.position.y=0.032;
target_pose130.position.z=0.215;
target_pose130.orientation.x = 0.0;
target_pose130.orientation.y = 0.7071;
target_pose130.orientation.z = 0.0;
target_pose130.orientation.w = 0.7071;
group.setPoseTarget(target_pose130);
group.move();
geometry_msgs::Pose target_pose131;
target_pose131.position.x=0.248;
target_pose131.position.y=0.032;
target_pose131.position.z=0.215;
target_pose131.orientation.x = 0.0;
target_pose131.orientation.y = 0.7071;
target_pose131.orientation.z = 0.0;
target_pose131.orientation.w = 0.7071;
group.setPoseTarget(target_pose131);
group.move();
geometry_msgs::Pose target_pose132;
target_pose132.position.x=0.247;
target_pose132.position.y=0.032;
target_pose132.position.z=0.215;
target_pose132.orientation.x = 0.0;
target_pose132.orientation.y = 0.7071;
target_pose132.orientation.z = 0.0;
target_pose132.orientation.w = 0.7071;
group.setPoseTarget(target_pose132);
group.move();
geometry_msgs::Pose target_pose133;
target_pose133.position.x=0.246;
target_pose133.position.y=0.032;
target_pose133.position.z=0.215;
target_pose133.orientation.x = 0.0;
target_pose133.orientation.y = 0.7071;
target_pose133.orientation.z = 0.0;
target_pose133.orientation.w = 0.7071;
group.setPoseTarget(target_pose133);
group.move();
geometry_msgs::Pose target_pose134;
target_pose134.position.x=0.245;
target_pose134.position.y=0.032;
target_pose134.position.z=0.215;
target_pose134.orientation.x = 0.0;
target_pose134.orientation.y = 0.7071;
target_pose134.orientation.z = 0.0;
target_pose134.orientation.w = 0.7071;
group.setPoseTarget(target_pose134);
group.move();
geometry_msgs::Pose target_pose135;
target_pose135.position.x=0.244;
target_pose135.position.y=0.032;
target_pose135.position.z=0.215;
target_pose135.orientation.x = 0.0;
target_pose135.orientation.y = 0.7071;
target_pose135.orientation.z = 0.0;
target_pose135.orientation.w = 0.7071;
group.setPoseTarget(target_pose135);
group.move();
geometry_msgs::Pose target_pose136;
target_pose136.position.x=0.243;
target_pose136.position.y=0.032;
target_pose136.position.z=0.215;
target_pose136.orientation.x = 0.0;
target_pose136.orientation.y = 0.7071;
target_pose136.orientation.z = 0.0;
target_pose136.orientation.w = 0.7071;
group.setPoseTarget(target_pose136);
group.move();
geometry_msgs::Pose target_pose137;
target_pose137.position.x=0.242;
target_pose137.position.y=0.032;
target_pose137.position.z=0.215;
target_pose137.orientation.x = 0.0;
target_pose137.orientation.y = 0.7071;
target_pose137.orientation.z = 0.0;
target_pose137.orientation.w = 0.7071;
group.setPoseTarget(target_pose137);
group.move();
geometry_msgs::Pose target_pose138;
target_pose138.position.x=0.241;
target_pose138.position.y=0.031;
target_pose138.position.z=0.214;
target_pose138.orientation.x = 0.0;
target_pose138.orientation.y = 0.7071;
target_pose138.orientation.z = 0.0;
target_pose138.orientation.w = 0.7071;
group.setPoseTarget(target_pose138);
group.move();
geometry_msgs::Pose target_pose139;
target_pose139.position.x=0.24;
target_pose139.position.y=0.031;
target_pose139.position.z=0.214;
target_pose139.orientation.x = 0.0;
target_pose139.orientation.y = 0.7071;
target_pose139.orientation.z = 0.0;
target_pose139.orientation.w = 0.7071;
group.setPoseTarget(target_pose139);
group.move();
geometry_msgs::Pose target_pose140;
target_pose140.position.x=0.239;
target_pose140.position.y=0.031;
target_pose140.position.z=0.214;
target_pose140.orientation.x = 0.0;
target_pose140.orientation.y = 0.7071;
target_pose140.orientation.z = 0.0;
target_pose140.orientation.w = 0.7071;
group.setPoseTarget(target_pose140);
group.move();
geometry_msgs::Pose target_pose141;
target_pose141.position.x=0.238;
target_pose141.position.y=0.031;
target_pose141.position.z=0.214;
target_pose141.orientation.x = 0.0;
target_pose141.orientation.y = 0.7071;
target_pose141.orientation.z = 0.0;
target_pose141.orientation.w = 0.7071;
group.setPoseTarget(target_pose141);
group.move();
geometry_msgs::Pose target_pose142;
target_pose142.position.x=0.237;
target_pose142.position.y=0.031;
target_pose142.position.z=0.214;
target_pose142.orientation.x = 0.0;
target_pose142.orientation.y = 0.7071;
target_pose142.orientation.z = 0.0;
target_pose142.orientation.w = 0.7071;
group.setPoseTarget(target_pose142);
group.move();
geometry_msgs::Pose target_pose143;
target_pose143.position.x=0.236;
target_pose143.position.y=0.031;
target_pose143.position.z=0.214;
target_pose143.orientation.x = 0.0;
target_pose143.orientation.y = 0.7071;
target_pose143.orientation.z = 0.0;
target_pose143.orientation.w = 0.7071;
group.setPoseTarget(target_pose143);
group.move();
geometry_msgs::Pose target_pose144;
target_pose144.position.x=0.235;
target_pose144.position.y=0.031;
target_pose144.position.z=0.214;
target_pose144.orientation.x = 0.0;
target_pose144.orientation.y = 0.7071;
target_pose144.orientation.z = 0.0;
target_pose144.orientation.w = 0.7071;
group.setPoseTarget(target_pose144);
group.move();
geometry_msgs::Pose target_pose145;
target_pose145.position.x=0.234;
target_pose145.position.y=0.032;
target_pose145.position.z=0.214;
target_pose145.orientation.x = 0.0;
target_pose145.orientation.y = 0.7071;
target_pose145.orientation.z = 0.0;
target_pose145.orientation.w = 0.7071;
group.setPoseTarget(target_pose145);
group.move();
geometry_msgs::Pose target_pose146;
target_pose146.position.x=0.233;
target_pose146.position.y=0.032;
target_pose146.position.z=0.214;
target_pose146.orientation.x = 0.0;
target_pose146.orientation.y = 0.7071;
target_pose146.orientation.z = 0.0;
target_pose146.orientation.w = 0.7071;
group.setPoseTarget(target_pose146);
group.move();
geometry_msgs::Pose target_pose147;
target_pose147.position.x=0.232;
target_pose147.position.y=0.032;
target_pose147.position.z=0.214;
target_pose147.orientation.x = 0.0;
target_pose147.orientation.y = 0.7071;
target_pose147.orientation.z = 0.0;
target_pose147.orientation.w = 0.7071;
group.setPoseTarget(target_pose147);
group.move();
geometry_msgs::Pose target_pose148;
target_pose148.position.x=0.231;
target_pose148.position.y=0.032;
target_pose148.position.z=0.214;
target_pose148.orientation.x = 0.0;
target_pose148.orientation.y = 0.7071;
target_pose148.orientation.z = 0.0;
target_pose148.orientation.w = 0.7071;
group.setPoseTarget(target_pose148);
group.move();
geometry_msgs::Pose target_pose149;
target_pose149.position.x=0.23;
target_pose149.position.y=0.032;
target_pose149.position.z=0.214;
target_pose149.orientation.x = 0.0;
target_pose149.orientation.y = 0.7071;
target_pose149.orientation.z = 0.0;
target_pose149.orientation.w = 0.7071;
group.setPoseTarget(target_pose149);
group.move();
geometry_msgs::Pose target_pose150;
target_pose150.position.x=0.229;
target_pose150.position.y=0.032;
target_pose150.position.z=0.214;
target_pose150.orientation.x = 0.0;
target_pose150.orientation.y = 0.7071;
target_pose150.orientation.z = 0.0;
target_pose150.orientation.w = 0.7071;
group.setPoseTarget(target_pose150);
group.move();
geometry_msgs::Pose target_pose151;
target_pose151.position.x=0.228;
target_pose151.position.y=0.032;
target_pose151.position.z=0.214;
target_pose151.orientation.x = 0.0;
target_pose151.orientation.y = 0.7071;
target_pose151.orientation.z = 0.0;
target_pose151.orientation.w = 0.7071;
group.setPoseTarget(target_pose151);
group.move();
geometry_msgs::Pose target_pose152;
target_pose152.position.x=0.227;
target_pose152.position.y=0.032;
target_pose152.position.z=0.214;
target_pose152.orientation.x = 0.0;
target_pose152.orientation.y = 0.7071;
target_pose152.orientation.z = 0.0;
target_pose152.orientation.w = 0.7071;
group.setPoseTarget(target_pose152);
group.move();
geometry_msgs::Pose target_pose153;
target_pose153.position.x=0.226;
target_pose153.position.y=0.032;
target_pose153.position.z=0.214;
target_pose153.orientation.x = 0.0;
target_pose153.orientation.y = 0.7071;
target_pose153.orientation.z = 0.0;
target_pose153.orientation.w = 0.7071;
group.setPoseTarget(target_pose153);
group.move();
geometry_msgs::Pose target_pose154;
target_pose154.position.x=0.225;
target_pose154.position.y=0.032;
target_pose154.position.z=0.214;
target_pose154.orientation.x = 0.0;
target_pose154.orientation.y = 0.7071;
target_pose154.orientation.z = 0.0;
target_pose154.orientation.w = 0.7071;
group.setPoseTarget(target_pose154);
group.move();
geometry_msgs::Pose target_pose155;
target_pose155.position.x=0.224;
target_pose155.position.y=0.032;
target_pose155.position.z=0.214;
target_pose155.orientation.x = 0.0;
target_pose155.orientation.y = 0.7071;
target_pose155.orientation.z = 0.0;
target_pose155.orientation.w = 0.7071;
group.setPoseTarget(target_pose155);
group.move();
geometry_msgs::Pose target_pose156;
target_pose156.position.x=0.223;
target_pose156.position.y=0.032;
target_pose156.position.z=0.214;
target_pose156.orientation.x = 0.0;
target_pose156.orientation.y = 0.7071;
target_pose156.orientation.z = 0.0;
target_pose156.orientation.w = 0.7071;
group.setPoseTarget(target_pose156);
group.move();
geometry_msgs::Pose target_pose157;
target_pose157.position.x=0.222;
target_pose157.position.y=0.032;
target_pose157.position.z=0.213;
target_pose157.orientation.x = 0.0;
target_pose157.orientation.y = 0.7071;
target_pose157.orientation.z = 0.0;
target_pose157.orientation.w = 0.7071;
group.setPoseTarget(target_pose157);
group.move();
geometry_msgs::Pose target_pose158;
target_pose158.position.x=0.221;
target_pose158.position.y=0.032;
target_pose158.position.z=0.213;
target_pose158.orientation.x = 0.0;
target_pose158.orientation.y = 0.7071;
target_pose158.orientation.z = 0.0;
target_pose158.orientation.w = 0.7071;
group.setPoseTarget(target_pose158);
group.move();
geometry_msgs::Pose target_pose159;
target_pose159.position.x=0.22;
target_pose159.position.y=0.032;
target_pose159.position.z=0.213;
target_pose159.orientation.x = 0.0;
target_pose159.orientation.y = 0.7071;
target_pose159.orientation.z = 0.0;
target_pose159.orientation.w = 0.7071;
group.setPoseTarget(target_pose159);
group.move();
geometry_msgs::Pose target_pose160;
target_pose160.position.x=0.219;
target_pose160.position.y=0.032;
target_pose160.position.z=0.213;
target_pose160.orientation.x = 0.0;
target_pose160.orientation.y = 0.7071;
target_pose160.orientation.z = 0.0;
target_pose160.orientation.w = 0.7071;
group.setPoseTarget(target_pose160);
group.move();
geometry_msgs::Pose target_pose161;
target_pose161.position.x=0.218;
target_pose161.position.y=0.032;
target_pose161.position.z=0.213;
target_pose161.orientation.x = 0.0;
target_pose161.orientation.y = 0.7071;
target_pose161.orientation.z = 0.0;
target_pose161.orientation.w = 0.7071;
group.setPoseTarget(target_pose161);
group.move();
geometry_msgs::Pose target_pose162;
target_pose162.position.x=0.217;
target_pose162.position.y=0.032;
target_pose162.position.z=0.213;
target_pose162.orientation.x = 0.0;
target_pose162.orientation.y = 0.7071;
target_pose162.orientation.z = 0.0;
target_pose162.orientation.w = 0.7071;
group.setPoseTarget(target_pose162);
group.move();
geometry_msgs::Pose target_pose163;
target_pose163.position.x=0.216;
target_pose163.position.y=0.032;
target_pose163.position.z=0.213;
target_pose163.orientation.x = 0.0;
target_pose163.orientation.y = 0.7071;
target_pose163.orientation.z = 0.0;
target_pose163.orientation.w = 0.7071;
group.setPoseTarget(target_pose163);
group.move();
geometry_msgs::Pose target_pose164;
target_pose164.position.x=0.215;
target_pose164.position.y=0.032;
target_pose164.position.z=0.213;
target_pose164.orientation.x = 0.0;
target_pose164.orientation.y = 0.7071;
target_pose164.orientation.z = 0.0;
target_pose164.orientation.w = 0.7071;
group.setPoseTarget(target_pose164);
group.move();
geometry_msgs::Pose target_pose165;
target_pose165.position.x=0.214;
target_pose165.position.y=0.032;
target_pose165.position.z=0.213;
target_pose165.orientation.x = 0.0;
target_pose165.orientation.y = 0.7071;
target_pose165.orientation.z = 0.0;
target_pose165.orientation.w = 0.7071;
group.setPoseTarget(target_pose165);
group.move();
geometry_msgs::Pose target_pose166;
target_pose166.position.x=0.213;
target_pose166.position.y=0.032;
target_pose166.position.z=0.213;
target_pose166.orientation.x = 0.0;
target_pose166.orientation.y = 0.7071;
target_pose166.orientation.z = 0.0;
target_pose166.orientation.w = 0.7071;
group.setPoseTarget(target_pose166);
group.move();
geometry_msgs::Pose target_pose167;
target_pose167.position.x=0.213;
target_pose167.position.y=0.032;
target_pose167.position.z=0.260;
target_pose167.orientation.x = 0.0;
target_pose167.orientation.y = 0.7071;
target_pose167.orientation.z = 0.0;
target_pose167.orientation.w = 0.7071;
group.setPoseTarget(target_pose167);
group.move();
geometry_msgs::Pose target_pose168;
target_pose168.position.x=0.278;
target_pose168.position.y=0.034;
target_pose168.position.z=0.260;
target_pose168.orientation.x = 0.0;
target_pose168.orientation.y = 0.7071;
target_pose168.orientation.z = 0.0;
target_pose168.orientation.w = 0.7071;
group.setPoseTarget(target_pose168);
group.move();
geometry_msgs::Pose target_pose169;
target_pose169.position.x=0.278;
target_pose169.position.y=0.034;
target_pose169.position.z=0.215;
target_pose169.orientation.x = 0.0;
target_pose169.orientation.y = 0.7071;
target_pose169.orientation.z = 0.0;
target_pose169.orientation.w = 0.7071;
group.setPoseTarget(target_pose169);
group.move();
geometry_msgs::Pose target_pose170;
target_pose170.position.x=0.276;
target_pose170.position.y=0.034;
target_pose170.position.z=0.215;
target_pose170.orientation.x = 0.0;
target_pose170.orientation.y = 0.7071;
target_pose170.orientation.z = 0.0;
target_pose170.orientation.w = 0.7071;
group.setPoseTarget(target_pose170);
group.move();
geometry_msgs::Pose target_pose171;
target_pose171.position.x=0.274;
target_pose171.position.y=0.035;
target_pose171.position.z=0.215;
target_pose171.orientation.x = 0.0;
target_pose171.orientation.y = 0.7071;
target_pose171.orientation.z = 0.0;
target_pose171.orientation.w = 0.7071;
group.setPoseTarget(target_pose171);
group.move();
geometry_msgs::Pose target_pose172;
target_pose172.position.x=0.272;
target_pose172.position.y=0.035;
target_pose172.position.z=0.215;
target_pose172.orientation.x = 0.0;
target_pose172.orientation.y = 0.7071;
target_pose172.orientation.z = 0.0;
target_pose172.orientation.w = 0.7071;
group.setPoseTarget(target_pose172);
group.move();
geometry_msgs::Pose target_pose173;
target_pose173.position.x=0.269;
target_pose173.position.y=0.036;
target_pose173.position.z=0.215;
target_pose173.orientation.x = 0.0;
target_pose173.orientation.y = 0.7071;
target_pose173.orientation.z = 0.0;
target_pose173.orientation.w = 0.7071;
group.setPoseTarget(target_pose173);
group.move();
geometry_msgs::Pose target_pose174;
target_pose174.position.x=0.266;
target_pose174.position.y=0.036;
target_pose174.position.z=0.215;
target_pose174.orientation.x = 0.0;
target_pose174.orientation.y = 0.7071;
target_pose174.orientation.z = 0.0;
target_pose174.orientation.w = 0.7071;
group.setPoseTarget(target_pose174);
group.move();
geometry_msgs::Pose target_pose175;
target_pose175.position.x=0.263;
target_pose175.position.y=0.037;
target_pose175.position.z=0.215;
target_pose175.orientation.x = 0.0;
target_pose175.orientation.y = 0.7071;
target_pose175.orientation.z = 0.0;
target_pose175.orientation.w = 0.7071;
group.setPoseTarget(target_pose175);
group.move();
geometry_msgs::Pose target_pose176;
target_pose176.position.x=0.26;
target_pose176.position.y=0.038;
target_pose176.position.z=0.215;
target_pose176.orientation.x = 0.0;
target_pose176.orientation.y = 0.7071;
target_pose176.orientation.z = 0.0;
target_pose176.orientation.w = 0.7071;
group.setPoseTarget(target_pose176);
group.move();
geometry_msgs::Pose target_pose177;
target_pose177.position.x=0.257;
target_pose177.position.y=0.039;
target_pose177.position.z=0.215;
target_pose177.orientation.x = 0.0;
target_pose177.orientation.y = 0.7071;
target_pose177.orientation.z = 0.0;
target_pose177.orientation.w = 0.7071;
group.setPoseTarget(target_pose177);
group.move();
geometry_msgs::Pose target_pose178;
target_pose178.position.x=0.256;
target_pose178.position.y=0.04;
target_pose178.position.z=0.215;
target_pose178.orientation.x = 0.0;
target_pose178.orientation.y = 0.7071;
target_pose178.orientation.z = 0.0;
target_pose178.orientation.w = 0.7071;
group.setPoseTarget(target_pose178);
group.move();
geometry_msgs::Pose target_pose179;
target_pose179.position.x=0.255;
target_pose179.position.y=0.041;
target_pose179.position.z=0.215;
target_pose179.orientation.x = 0.0;
target_pose179.orientation.y = 0.7071;
target_pose179.orientation.z = 0.0;
target_pose179.orientation.w = 0.7071;
group.setPoseTarget(target_pose179);
group.move();
geometry_msgs::Pose target_pose180;
target_pose180.position.x=0.254;
target_pose180.position.y=0.042;
target_pose180.position.z=0.215;
target_pose180.orientation.x = 0.0;
target_pose180.orientation.y = 0.7071;
target_pose180.orientation.z = 0.0;
target_pose180.orientation.w = 0.7071;
group.setPoseTarget(target_pose180);
group.move();
geometry_msgs::Pose target_pose181;
target_pose181.position.x=0.253;
target_pose181.position.y=0.043;
target_pose181.position.z=0.215;
target_pose181.orientation.x = 0.0;
target_pose181.orientation.y = 0.7071;
target_pose181.orientation.z = 0.0;
target_pose181.orientation.w = 0.7071;
group.setPoseTarget(target_pose181);
group.move();
geometry_msgs::Pose target_pose182;
target_pose182.position.x=0.251;
target_pose182.position.y=0.044;
target_pose182.position.z=0.216;
target_pose182.orientation.x = 0.0;
target_pose182.orientation.y = 0.7071;
target_pose182.orientation.z = 0.0;
target_pose182.orientation.w = 0.7071;
group.setPoseTarget(target_pose182);
group.move();
geometry_msgs::Pose target_pose183;
target_pose183.position.x=0.25;
target_pose183.position.y=0.045;
target_pose183.position.z=0.216;
target_pose183.orientation.x = 0.0;
target_pose183.orientation.y = 0.7071;
target_pose183.orientation.z = 0.0;
target_pose183.orientation.w = 0.7071;
group.setPoseTarget(target_pose183);
group.move();
geometry_msgs::Pose target_pose184;
target_pose184.position.x=0.249;
target_pose184.position.y=0.046;
target_pose184.position.z=0.216;
target_pose184.orientation.x = 0.0;
target_pose184.orientation.y = 0.7071;
target_pose184.orientation.z = 0.0;
target_pose184.orientation.w = 0.7071;
group.setPoseTarget(target_pose184);
group.move();
geometry_msgs::Pose target_pose185;
target_pose185.position.x=0.248;
target_pose185.position.y=0.047;
target_pose185.position.z=0.216;
target_pose185.orientation.x = 0.0;
target_pose185.orientation.y = 0.7071;
target_pose185.orientation.z = 0.0;
target_pose185.orientation.w = 0.7071;
group.setPoseTarget(target_pose185);
group.move();
geometry_msgs::Pose target_pose186;
target_pose186.position.x=0.248;
target_pose186.position.y=0.048;
target_pose186.position.z=0.216;
target_pose186.orientation.x = 0.0;
target_pose186.orientation.y = 0.7071;
target_pose186.orientation.z = 0.0;
target_pose186.orientation.w = 0.7071;
group.setPoseTarget(target_pose186);
group.move();
geometry_msgs::Pose target_pose187;
target_pose187.position.x=0.247;
target_pose187.position.y=0.049;
target_pose187.position.z=0.216;
target_pose187.orientation.x = 0.0;
target_pose187.orientation.y = 0.7071;
target_pose187.orientation.z = 0.0;
target_pose187.orientation.w = 0.7071;
group.setPoseTarget(target_pose187);
group.move();
geometry_msgs::Pose target_pose188;
target_pose188.position.x=0.246;
target_pose188.position.y=0.05;
target_pose188.position.z=0.216;
target_pose188.orientation.x = 0.0;
target_pose188.orientation.y = 0.7071;
target_pose188.orientation.z = 0.0;
target_pose188.orientation.w = 0.7071;
group.setPoseTarget(target_pose188);
group.move();
geometry_msgs::Pose target_pose189;
target_pose189.position.x=0.245;
target_pose189.position.y=0.051;
target_pose189.position.z=0.215;
target_pose189.orientation.x = 0.0;
target_pose189.orientation.y = 0.7071;
target_pose189.orientation.z = 0.0;
target_pose189.orientation.w = 0.7071;
group.setPoseTarget(target_pose189);
group.move();
geometry_msgs::Pose target_pose190;
target_pose190.position.x=0.244;
target_pose190.position.y=0.052;
target_pose190.position.z=0.215;
target_pose190.orientation.x = 0.0;
target_pose190.orientation.y = 0.7071;
target_pose190.orientation.z = 0.0;
target_pose190.orientation.w = 0.7071;
group.setPoseTarget(target_pose190);
group.move();
geometry_msgs::Pose target_pose191;
target_pose191.position.x=0.243;
target_pose191.position.y=0.053;
target_pose191.position.z=0.215;
target_pose191.orientation.x = 0.0;
target_pose191.orientation.y = 0.7071;
target_pose191.orientation.z = 0.0;
target_pose191.orientation.w = 0.7071;
group.setPoseTarget(target_pose191);
group.move();
geometry_msgs::Pose target_pose192;
target_pose192.position.x=0.243;
target_pose192.position.y=0.054;
target_pose192.position.z=0.215;
target_pose192.orientation.x = 0.0;
target_pose192.orientation.y = 0.7071;
target_pose192.orientation.z = 0.0;
target_pose192.orientation.w = 0.7071;
group.setPoseTarget(target_pose192);
group.move();
geometry_msgs::Pose target_pose193;
target_pose193.position.x=0.242;
target_pose193.position.y=0.055;
target_pose193.position.z=0.215;
target_pose193.orientation.x = 0.0;
target_pose193.orientation.y = 0.7071;
target_pose193.orientation.z = 0.0;
target_pose193.orientation.w = 0.7071;
group.setPoseTarget(target_pose193);
group.move();
geometry_msgs::Pose target_pose194;
target_pose194.position.x=0.241;
target_pose194.position.y=0.056;
target_pose194.position.z=0.215;
target_pose194.orientation.x = 0.0;
target_pose194.orientation.y = 0.7071;
target_pose194.orientation.z = 0.0;
target_pose194.orientation.w = 0.7071;
group.setPoseTarget(target_pose194);
group.move();
geometry_msgs::Pose target_pose195;
target_pose195.position.x=0.24;
target_pose195.position.y=0.057;
target_pose195.position.z=0.215;
target_pose195.orientation.x = 0.0;
target_pose195.orientation.y = 0.7071;
target_pose195.orientation.z = 0.0;
target_pose195.orientation.w = 0.7071;
group.setPoseTarget(target_pose195);
group.move();
geometry_msgs::Pose target_pose196;
target_pose196.position.x=0.239;
target_pose196.position.y=0.058;
target_pose196.position.z=0.216;
target_pose196.orientation.x = 0.0;
target_pose196.orientation.y = 0.7071;
target_pose196.orientation.z = 0.0;
target_pose196.orientation.w = 0.7071;
group.setPoseTarget(target_pose196);
group.move();
geometry_msgs::Pose target_pose197;
target_pose197.position.x=0.238;
target_pose197.position.y=0.059;
target_pose197.position.z=0.216;
target_pose197.orientation.x = 0.0;
target_pose197.orientation.y = 0.7071;
target_pose197.orientation.z = 0.0;
target_pose197.orientation.w = 0.7071;
group.setPoseTarget(target_pose197);
group.move();
geometry_msgs::Pose target_pose198;
target_pose198.position.x=0.237;
target_pose198.position.y=0.06;
target_pose198.position.z=0.216;
target_pose198.orientation.x = 0.0;
target_pose198.orientation.y = 0.7071;
target_pose198.orientation.z = 0.0;
target_pose198.orientation.w = 0.7071;
group.setPoseTarget(target_pose198);
group.move();
geometry_msgs::Pose target_pose199;
target_pose199.position.x=0.236;
target_pose199.position.y=0.061;
target_pose199.position.z=0.216;
target_pose199.orientation.x = 0.0;
target_pose199.orientation.y = 0.7071;
target_pose199.orientation.z = 0.0;
target_pose199.orientation.w = 0.7071;
group.setPoseTarget(target_pose199);
group.move();
geometry_msgs::Pose target_pose200;
target_pose200.position.x=0.236;
target_pose200.position.y=0.062;
target_pose200.position.z=0.216;
target_pose200.orientation.x = 0.0;
target_pose200.orientation.y = 0.7071;
target_pose200.orientation.z = 0.0;
target_pose200.orientation.w = 0.7071;
group.setPoseTarget(target_pose200);
group.move();
geometry_msgs::Pose target_pose201;
target_pose201.position.x=0.235;
target_pose201.position.y=0.063;
target_pose201.position.z=0.216;
target_pose201.orientation.x = 0.0;
target_pose201.orientation.y = 0.7071;
target_pose201.orientation.z = 0.0;
target_pose201.orientation.w = 0.7071;
group.setPoseTarget(target_pose201);
group.move();
geometry_msgs::Pose target_pose202;
target_pose202.position.x=0.234;
target_pose202.position.y=0.064;
target_pose202.position.z=0.216;
target_pose202.orientation.x = 0.0;
target_pose202.orientation.y = 0.7071;
target_pose202.orientation.z = 0.0;
target_pose202.orientation.w = 0.7071;
group.setPoseTarget(target_pose202);
group.move();
geometry_msgs::Pose target_pose203;
target_pose203.position.x=0.233;
target_pose203.position.y=0.065;
target_pose203.position.z=0.216;
target_pose203.orientation.x = 0.0;
target_pose203.orientation.y = 0.7071;
target_pose203.orientation.z = 0.0;
target_pose203.orientation.w = 0.7071;
group.setPoseTarget(target_pose203);
group.move();
geometry_msgs::Pose target_pose204;
target_pose204.position.x=0.232;
target_pose204.position.y=0.066;
target_pose204.position.z=0.216;
target_pose204.orientation.x = 0.0;
target_pose204.orientation.y = 0.7071;
target_pose204.orientation.z = 0.0;
target_pose204.orientation.w = 0.7071;
group.setPoseTarget(target_pose204);
group.move();
geometry_msgs::Pose target_pose205;
target_pose205.position.x=0.232;
target_pose205.position.y=0.067;
target_pose205.position.z=0.217;
target_pose205.orientation.x = 0.0;
target_pose205.orientation.y = 0.7071;
target_pose205.orientation.z = 0.0;
target_pose205.orientation.w = 0.7071;
group.setPoseTarget(target_pose205);
group.move();
geometry_msgs::Pose target_pose206;
target_pose206.position.x=0.231;
target_pose206.position.y=0.068;
target_pose206.position.z=0.217;
target_pose206.orientation.x = 0.0;
target_pose206.orientation.y = 0.7071;
target_pose206.orientation.z = 0.0;
target_pose206.orientation.w = 0.7071;
group.setPoseTarget(target_pose206);
group.move();
geometry_msgs::Pose target_pose207;
target_pose207.position.x=0.231;
target_pose207.position.y=0.069;
target_pose207.position.z=0.217;
target_pose207.orientation.x = 0.0;
target_pose207.orientation.y = 0.7071;
target_pose207.orientation.z = 0.0;
target_pose207.orientation.w = 0.7071;
group.setPoseTarget(target_pose207);
group.move();
geometry_msgs::Pose target_pose208;
target_pose208.position.x=0.231;
target_pose208.position.y=0.069;
target_pose208.position.z=0.260;
target_pose208.orientation.x = 0.0;
target_pose208.orientation.y = 0.7071;
target_pose208.orientation.z = 0.0;
target_pose208.orientation.w = 0.7071;
group.setPoseTarget(target_pose208);
group.move();
geometry_msgs::Pose target_pose209;
target_pose209.position.x=0.263;
target_pose209.position.y=0.032;
target_pose209.position.z=0.260;
target_pose209.orientation.x = 0.0;
target_pose209.orientation.y = 0.7071;
target_pose209.orientation.z = 0.0;
target_pose209.orientation.w = 0.7071;
group.setPoseTarget(target_pose209);
group.move();
geometry_msgs::Pose target_pose210;
target_pose210.position.x=0.263;
target_pose210.position.y=0.032;
target_pose210.position.z=0.214;
target_pose210.orientation.x = 0.0;
target_pose210.orientation.y = 0.7071;
target_pose210.orientation.z = 0.0;
target_pose210.orientation.w = 0.7071;
group.setPoseTarget(target_pose210);
group.move();
geometry_msgs::Pose target_pose211;
target_pose211.position.x=0.262;
target_pose211.position.y=0.031;
target_pose211.position.z=0.214;
target_pose211.orientation.x = 0.0;
target_pose211.orientation.y = 0.7071;
target_pose211.orientation.z = 0.0;
target_pose211.orientation.w = 0.7071;
group.setPoseTarget(target_pose211);
group.move();
geometry_msgs::Pose target_pose212;
target_pose212.position.x=0.262;
target_pose212.position.y=0.03;
target_pose212.position.z=0.214;
target_pose212.orientation.x = 0.0;
target_pose212.orientation.y = 0.7071;
target_pose212.orientation.z = 0.0;
target_pose212.orientation.w = 0.7071;
group.setPoseTarget(target_pose212);
group.move();
geometry_msgs::Pose target_pose213;
target_pose213.position.x=0.262;
target_pose213.position.y=0.029;
target_pose213.position.z=0.214;
target_pose213.orientation.x = 0.0;
target_pose213.orientation.y = 0.7071;
target_pose213.orientation.z = 0.0;
target_pose213.orientation.w = 0.7071;
group.setPoseTarget(target_pose213);
group.move();
geometry_msgs::Pose target_pose214;
target_pose214.position.x=0.262;
target_pose214.position.y=0.028;
target_pose214.position.z=0.214;
target_pose214.orientation.x = 0.0;
target_pose214.orientation.y = 0.7071;
target_pose214.orientation.z = 0.0;
target_pose214.orientation.w = 0.7071;
group.setPoseTarget(target_pose214);
group.move();
geometry_msgs::Pose target_pose215;
target_pose215.position.x=0.262;
target_pose215.position.y=0.027;
target_pose215.position.z=0.214;
target_pose215.orientation.x = 0.0;
target_pose215.orientation.y = 0.7071;
target_pose215.orientation.z = 0.0;
target_pose215.orientation.w = 0.7071;
group.setPoseTarget(target_pose215);
group.move();
geometry_msgs::Pose target_pose216;
target_pose216.position.x=0.261;
target_pose216.position.y=0.026;
target_pose216.position.z=0.215;
target_pose216.orientation.x = 0.0;
target_pose216.orientation.y = 0.7071;
target_pose216.orientation.z = 0.0;
target_pose216.orientation.w = 0.7071;
group.setPoseTarget(target_pose216);
group.move();
geometry_msgs::Pose target_pose217;
target_pose217.position.x=0.261;
target_pose217.position.y=0.025;
target_pose217.position.z=0.215;
target_pose217.orientation.x = 0.0;
target_pose217.orientation.y = 0.7071;
target_pose217.orientation.z = 0.0;
target_pose217.orientation.w = 0.7071;
group.setPoseTarget(target_pose217);
group.move();
geometry_msgs::Pose target_pose218;
target_pose218.position.x=0.261;
target_pose218.position.y=0.024;
target_pose218.position.z=0.215;
target_pose218.orientation.x = 0.0;
target_pose218.orientation.y = 0.7071;
target_pose218.orientation.z = 0.0;
target_pose218.orientation.w = 0.7071;
group.setPoseTarget(target_pose218);
group.move();
geometry_msgs::Pose target_pose219;
target_pose219.position.x=0.261;
target_pose219.position.y=0.023;
target_pose219.position.z=0.215;
target_pose219.orientation.x = 0.0;
target_pose219.orientation.y = 0.7071;
target_pose219.orientation.z = 0.0;
target_pose219.orientation.w = 0.7071;
group.setPoseTarget(target_pose219);
group.move();
geometry_msgs::Pose target_pose220;
target_pose220.position.x=0.26;
target_pose220.position.y=0.022;
target_pose220.position.z=0.215;
target_pose220.orientation.x = 0.0;
target_pose220.orientation.y = 0.7071;
target_pose220.orientation.z = 0.0;
target_pose220.orientation.w = 0.7071;
group.setPoseTarget(target_pose220);
group.move();
geometry_msgs::Pose target_pose221;
target_pose221.position.x=0.26;
target_pose221.position.y=0.021;
target_pose221.position.z=0.215;
target_pose221.orientation.x = 0.0;
target_pose221.orientation.y = 0.7071;
target_pose221.orientation.z = 0.0;
target_pose221.orientation.w = 0.7071;
group.setPoseTarget(target_pose221);
group.move();
geometry_msgs::Pose target_pose222;
target_pose222.position.x=0.26;
target_pose222.position.y=0.02;
target_pose222.position.z=0.216;
target_pose222.orientation.x = 0.0;
target_pose222.orientation.y = 0.7071;
target_pose222.orientation.z = 0.0;
target_pose222.orientation.w = 0.7071;
group.setPoseTarget(target_pose222);
group.move();
geometry_msgs::Pose target_pose223;
target_pose223.position.x=0.26;
target_pose223.position.y=0.019;
target_pose223.position.z=0.216;
target_pose223.orientation.x = 0.0;
target_pose223.orientation.y = 0.7071;
target_pose223.orientation.z = 0.0;
target_pose223.orientation.w = 0.7071;
group.setPoseTarget(target_pose223);
group.move();
geometry_msgs::Pose target_pose224;
target_pose224.position.x=0.259;
target_pose224.position.y=0.019;
target_pose224.position.z=0.216;
target_pose224.orientation.x = 0.0;
target_pose224.orientation.y = 0.7071;
target_pose224.orientation.z = 0.0;
target_pose224.orientation.w = 0.7071;
group.setPoseTarget(target_pose224);
group.move();
geometry_msgs::Pose target_pose225;
target_pose225.position.x=0.259;
target_pose225.position.y=0.018;
target_pose225.position.z=0.216;
target_pose225.orientation.x = 0.0;
target_pose225.orientation.y = 0.7071;
target_pose225.orientation.z = 0.0;
target_pose225.orientation.w = 0.7071;
group.setPoseTarget(target_pose225);
group.move();
geometry_msgs::Pose target_pose226;
target_pose226.position.x=0.259;
target_pose226.position.y=0.017;
target_pose226.position.z=0.216;
target_pose226.orientation.x = 0.0;
target_pose226.orientation.y = 0.7071;
target_pose226.orientation.z = 0.0;
target_pose226.orientation.w = 0.7071;
group.setPoseTarget(target_pose226);
group.move();
geometry_msgs::Pose target_pose227;
target_pose227.position.x=0.258;
target_pose227.position.y=0.017;
target_pose227.position.z=0.216;
target_pose227.orientation.x = 0.0;
target_pose227.orientation.y = 0.7071;
target_pose227.orientation.z = 0.0;
target_pose227.orientation.w = 0.7071;
group.setPoseTarget(target_pose227);
group.move();
geometry_msgs::Pose target_pose228;
target_pose228.position.x=0.258;
target_pose228.position.y=0.016;
target_pose228.position.z=0.216;
target_pose228.orientation.x = 0.0;
target_pose228.orientation.y = 0.7071;
target_pose228.orientation.z = 0.0;
target_pose228.orientation.w = 0.7071;
group.setPoseTarget(target_pose228);
group.move();
geometry_msgs::Pose target_pose229;
target_pose229.position.x=0.258;
target_pose229.position.y=0.015;
target_pose229.position.z=0.216;
target_pose229.orientation.x = 0.0;
target_pose229.orientation.y = 0.7071;
target_pose229.orientation.z = 0.0;
target_pose229.orientation.w = 0.7071;
group.setPoseTarget(target_pose229);
group.move();
geometry_msgs::Pose target_pose230;
target_pose230.position.x=0.258;
target_pose230.position.y=0.015;
target_pose230.position.z=0.260;
target_pose230.orientation.x = 0.0;
target_pose230.orientation.y = 0.7071;
target_pose230.orientation.z = 0.0;
target_pose230.orientation.w = 0.7071;
group.setPoseTarget(target_pose230);
group.move();
geometry_msgs::Pose target_pose231;
target_pose231.position.x=0.298;
target_pose231.position.y=0;
target_pose231.position.z=0.260;
target_pose231.orientation.x = 0.0;
target_pose231.orientation.y = 0.7071;
target_pose231.orientation.z = 0.0;
target_pose231.orientation.w = 0.7071;
group.setPoseTarget(target_pose231);
group.move();
geometry_msgs::Pose target_pose232;
target_pose232.position.x=0.298;
target_pose232.position.y=0;
target_pose232.position.z=0.217;
target_pose232.orientation.x = 0.0;
target_pose232.orientation.y = 0.7071;
target_pose232.orientation.z = 0.0;
target_pose232.orientation.w = 0.7071;
group.setPoseTarget(target_pose232);
group.move();
geometry_msgs::Pose target_pose233;
target_pose233.position.x=0.297;
target_pose233.position.y=-0.001;
target_pose233.position.z=0.216;
target_pose233.orientation.x = 0.0;
target_pose233.orientation.y = 0.7071;
target_pose233.orientation.z = 0.0;
target_pose233.orientation.w = 0.7071;
group.setPoseTarget(target_pose233);
group.move();
geometry_msgs::Pose target_pose234;
target_pose234.position.x=0.296;
target_pose234.position.y=-0.001;
target_pose234.position.z=0.216;
target_pose234.orientation.x = 0.0;
target_pose234.orientation.y = 0.7071;
target_pose234.orientation.z = 0.0;
target_pose234.orientation.w = 0.7071;
group.setPoseTarget(target_pose234);
group.move();
geometry_msgs::Pose target_pose235;
target_pose235.position.x=0.295;
target_pose235.position.y=-0.002;
target_pose235.position.z=0.215;
target_pose235.orientation.x = 0.0;
target_pose235.orientation.y = 0.7071;
target_pose235.orientation.z = 0.0;
target_pose235.orientation.w = 0.7071;
group.setPoseTarget(target_pose235);
group.move();
geometry_msgs::Pose target_pose236;
target_pose236.position.x=0.294;
target_pose236.position.y=-0.003;
target_pose236.position.z=0.215;
target_pose236.orientation.x = 0.0;
target_pose236.orientation.y = 0.7071;
target_pose236.orientation.z = 0.0;
target_pose236.orientation.w = 0.7071;
group.setPoseTarget(target_pose236);
group.move();
geometry_msgs::Pose target_pose237;
target_pose237.position.x=0.293;
target_pose237.position.y=-0.003;
target_pose237.position.z=0.215;
target_pose237.orientation.x = 0.0;
target_pose237.orientation.y = 0.7071;
target_pose237.orientation.z = 0.0;
target_pose237.orientation.w = 0.7071;
group.setPoseTarget(target_pose237);
group.move();
geometry_msgs::Pose target_pose238;
target_pose238.position.x=0.292;
target_pose238.position.y=-0.004;
target_pose238.position.z=0.214;
target_pose238.orientation.x = 0.0;
target_pose238.orientation.y = 0.7071;
target_pose238.orientation.z = 0.0;
target_pose238.orientation.w = 0.7071;
group.setPoseTarget(target_pose238);
group.move();
geometry_msgs::Pose target_pose239;
target_pose239.position.x=0.291;
target_pose239.position.y=-0.004;
target_pose239.position.z=0.215;
target_pose239.orientation.x = 0.0;
target_pose239.orientation.y = 0.7071;
target_pose239.orientation.z = 0.0;
target_pose239.orientation.w = 0.7071;
group.setPoseTarget(target_pose239);
group.move();
geometry_msgs::Pose target_pose240;
target_pose240.position.x=0.29;
target_pose240.position.y=-0.004;
target_pose240.position.z=0.215;
target_pose240.orientation.x = 0.0;
target_pose240.orientation.y = 0.7071;
target_pose240.orientation.z = 0.0;
target_pose240.orientation.w = 0.7071;
group.setPoseTarget(target_pose240);
group.move();
geometry_msgs::Pose target_pose241;
target_pose241.position.x=0.289;
target_pose241.position.y=-0.004;
target_pose241.position.z=0.215;
target_pose241.orientation.x = 0.0;
target_pose241.orientation.y = 0.7071;
target_pose241.orientation.z = 0.0;
target_pose241.orientation.w = 0.7071;
group.setPoseTarget(target_pose241);
group.move();
geometry_msgs::Pose target_pose242;
target_pose242.position.x=0.288;
target_pose242.position.y=-0.004;
target_pose242.position.z=0.215;
target_pose242.orientation.x = 0.0;
target_pose242.orientation.y = 0.7071;
target_pose242.orientation.z = 0.0;
target_pose242.orientation.w = 0.7071;
group.setPoseTarget(target_pose242);
group.move();
geometry_msgs::Pose target_pose243;
target_pose243.position.x=0.287;
target_pose243.position.y=-0.004;
target_pose243.position.z=0.215;
target_pose243.orientation.x = 0.0;
target_pose243.orientation.y = 0.7071;
target_pose243.orientation.z = 0.0;
target_pose243.orientation.w = 0.7071;
group.setPoseTarget(target_pose243);
group.move();
geometry_msgs::Pose target_pose244;
target_pose244.position.x=0.286;
target_pose244.position.y=-0.004;
target_pose244.position.z=0.215;
target_pose244.orientation.x = 0.0;
target_pose244.orientation.y = 0.7071;
target_pose244.orientation.z = 0.0;
target_pose244.orientation.w = 0.7071;
group.setPoseTarget(target_pose244);
group.move();
geometry_msgs::Pose target_pose245;
target_pose245.position.x=0.285;
target_pose245.position.y=-0.004;
target_pose245.position.z=0.215;
target_pose245.orientation.x = 0.0;
target_pose245.orientation.y = 0.7071;
target_pose245.orientation.z = 0.0;
target_pose245.orientation.w = 0.7071;
group.setPoseTarget(target_pose245);
group.move();
geometry_msgs::Pose target_pose246;
target_pose246.position.x=0.284;
target_pose246.position.y=-0.004;
target_pose246.position.z=0.215;
target_pose246.orientation.x = 0.0;
target_pose246.orientation.y = 0.7071;
target_pose246.orientation.z = 0.0;
target_pose246.orientation.w = 0.7071;
group.setPoseTarget(target_pose246);
group.move();
geometry_msgs::Pose target_pose247;
target_pose247.position.x=0.283;
target_pose247.position.y=-0.004;
target_pose247.position.z=0.215;
target_pose247.orientation.x = 0.0;
target_pose247.orientation.y = 0.7071;
target_pose247.orientation.z = 0.0;
target_pose247.orientation.w = 0.7071;
group.setPoseTarget(target_pose247);
group.move();
geometry_msgs::Pose target_pose248;
target_pose248.position.x=0.282;
target_pose248.position.y=-0.004;
target_pose248.position.z=0.215;
target_pose248.orientation.x = 0.0;
target_pose248.orientation.y = 0.7071;
target_pose248.orientation.z = 0.0;
target_pose248.orientation.w = 0.7071;
group.setPoseTarget(target_pose248);
group.move();
geometry_msgs::Pose target_pose249;
target_pose249.position.x=0.281;
target_pose249.position.y=-0.004;
target_pose249.position.z=0.215;
target_pose249.orientation.x = 0.0;
target_pose249.orientation.y = 0.7071;
target_pose249.orientation.z = 0.0;
target_pose249.orientation.w = 0.7071;
group.setPoseTarget(target_pose249);
group.move();
geometry_msgs::Pose target_pose250;
target_pose250.position.x=0.28;
target_pose250.position.y=-0.004;
target_pose250.position.z=0.215;
target_pose250.orientation.x = 0.0;
target_pose250.orientation.y = 0.7071;
target_pose250.orientation.z = 0.0;
target_pose250.orientation.w = 0.7071;
group.setPoseTarget(target_pose250);
group.move();
geometry_msgs::Pose target_pose251;
target_pose251.position.x=0.279;
target_pose251.position.y=-0.004;
target_pose251.position.z=0.215;
target_pose251.orientation.x = 0.0;
target_pose251.orientation.y = 0.7071;
target_pose251.orientation.z = 0.0;
target_pose251.orientation.w = 0.7071;
group.setPoseTarget(target_pose251);
group.move();
geometry_msgs::Pose target_pose252;
target_pose252.position.x=0.278;
target_pose252.position.y=-0.004;
target_pose252.position.z=0.215;
target_pose252.orientation.x = 0.0;
target_pose252.orientation.y = 0.7071;
target_pose252.orientation.z = 0.0;
target_pose252.orientation.w = 0.7071;
group.setPoseTarget(target_pose252);
group.move();
geometry_msgs::Pose target_pose253;
target_pose253.position.x=0.277;
target_pose253.position.y=-0.004;
target_pose253.position.z=0.215;
target_pose253.orientation.x = 0.0;
target_pose253.orientation.y = 0.7071;
target_pose253.orientation.z = 0.0;
target_pose253.orientation.w = 0.7071;
group.setPoseTarget(target_pose253);
group.move();
geometry_msgs::Pose target_pose254;
target_pose254.position.x=0.276;
target_pose254.position.y=-0.004;
target_pose254.position.z=0.215;
target_pose254.orientation.x = 0.0;
target_pose254.orientation.y = 0.7071;
target_pose254.orientation.z = 0.0;
target_pose254.orientation.w = 0.7071;
group.setPoseTarget(target_pose254);
group.move();
geometry_msgs::Pose target_pose255;
target_pose255.position.x=0.275;
target_pose255.position.y=-0.004;
target_pose255.position.z=0.215;
target_pose255.orientation.x = 0.0;
target_pose255.orientation.y = 0.7071;
target_pose255.orientation.z = 0.0;
target_pose255.orientation.w = 0.7071;
group.setPoseTarget(target_pose255);
group.move();
geometry_msgs::Pose target_pose256;
target_pose256.position.x=0.274;
target_pose256.position.y=-0.004;
target_pose256.position.z=0.215;
target_pose256.orientation.x = 0.0;
target_pose256.orientation.y = 0.7071;
target_pose256.orientation.z = 0.0;
target_pose256.orientation.w = 0.7071;
group.setPoseTarget(target_pose256);
group.move();
geometry_msgs::Pose target_pose257;
target_pose257.position.x=0.273;
target_pose257.position.y=-0.004;
target_pose257.position.z=0.215;
target_pose257.orientation.x = 0.0;
target_pose257.orientation.y = 0.7071;
target_pose257.orientation.z = 0.0;
target_pose257.orientation.w = 0.7071;
group.setPoseTarget(target_pose257);
group.move();
geometry_msgs::Pose target_pose258;
target_pose258.position.x=0.272;
target_pose258.position.y=-0.004;
target_pose258.position.z=0.215;
target_pose258.orientation.x = 0.0;
target_pose258.orientation.y = 0.7071;
target_pose258.orientation.z = 0.0;
target_pose258.orientation.w = 0.7071;
group.setPoseTarget(target_pose258);
group.move();
geometry_msgs::Pose target_pose259;
target_pose259.position.x=0.271;
target_pose259.position.y=-0.004;
target_pose259.position.z=0.215;
target_pose259.orientation.x = 0.0;
target_pose259.orientation.y = 0.7071;
target_pose259.orientation.z = 0.0;
target_pose259.orientation.w = 0.7071;
group.setPoseTarget(target_pose259);
group.move();
geometry_msgs::Pose target_pose260;
target_pose260.position.x=0.27;
target_pose260.position.y=-0.004;
target_pose260.position.z=0.215;
target_pose260.orientation.x = 0.0;
target_pose260.orientation.y = 0.7071;
target_pose260.orientation.z = 0.0;
target_pose260.orientation.w = 0.7071;
group.setPoseTarget(target_pose260);
group.move();
geometry_msgs::Pose target_pose261;
target_pose261.position.x=0.269;
target_pose261.position.y=-0.004;
target_pose261.position.z=0.215;
target_pose261.orientation.x = 0.0;
target_pose261.orientation.y = 0.7071;
target_pose261.orientation.z = 0.0;
target_pose261.orientation.w = 0.7071;
group.setPoseTarget(target_pose261);
group.move();
geometry_msgs::Pose target_pose262;
target_pose262.position.x=0.268;
target_pose262.position.y=-0.003;
target_pose262.position.z=0.215;
target_pose262.orientation.x = 0.0;
target_pose262.orientation.y = 0.7071;
target_pose262.orientation.z = 0.0;
target_pose262.orientation.w = 0.7071;
group.setPoseTarget(target_pose262);
group.move();
geometry_msgs::Pose target_pose263;
target_pose263.position.x=0.267;
target_pose263.position.y=-0.003;
target_pose263.position.z=0.215;
target_pose263.orientation.x = 0.0;
target_pose263.orientation.y = 0.7071;
target_pose263.orientation.z = 0.0;
target_pose263.orientation.w = 0.7071;
group.setPoseTarget(target_pose263);
group.move();
geometry_msgs::Pose target_pose264;
target_pose264.position.x=0.266;
target_pose264.position.y=-0.003;
target_pose264.position.z=0.215;
target_pose264.orientation.x = 0.0;
target_pose264.orientation.y = 0.7071;
target_pose264.orientation.z = 0.0;
target_pose264.orientation.w = 0.7071;
group.setPoseTarget(target_pose264);
group.move();
geometry_msgs::Pose target_pose265;
target_pose265.position.x=0.265;
target_pose265.position.y=-0.003;
target_pose265.position.z=0.215;
target_pose265.orientation.x = 0.0;
target_pose265.orientation.y = 0.7071;
target_pose265.orientation.z = 0.0;
target_pose265.orientation.w = 0.7071;
group.setPoseTarget(target_pose265);
group.move();
geometry_msgs::Pose target_pose266;
target_pose266.position.x=0.264;
target_pose266.position.y=-0.003;
target_pose266.position.z=0.215;
target_pose266.orientation.x = 0.0;
target_pose266.orientation.y = 0.7071;
target_pose266.orientation.z = 0.0;
target_pose266.orientation.w = 0.7071;
group.setPoseTarget(target_pose266);
group.move();
geometry_msgs::Pose target_pose267;
target_pose267.position.x=0.263;
target_pose267.position.y=-0.003;
target_pose267.position.z=0.215;
target_pose267.orientation.x = 0.0;
target_pose267.orientation.y = 0.7071;
target_pose267.orientation.z = 0.0;
target_pose267.orientation.w = 0.7071;
group.setPoseTarget(target_pose267);
group.move();
geometry_msgs::Pose target_pose268;
target_pose268.position.x=0.262;
target_pose268.position.y=-0.003;
target_pose268.position.z=0.215;
target_pose268.orientation.x = 0.0;
target_pose268.orientation.y = 0.7071;
target_pose268.orientation.z = 0.0;
target_pose268.orientation.w = 0.7071;
group.setPoseTarget(target_pose268);
group.move();
geometry_msgs::Pose target_pose269;
target_pose269.position.x=0.261;
target_pose269.position.y=-0.003;
target_pose269.position.z=0.215;
target_pose269.orientation.x = 0.0;
target_pose269.orientation.y = 0.7071;
target_pose269.orientation.z = 0.0;
target_pose269.orientation.w = 0.7071;
group.setPoseTarget(target_pose269);
group.move();
geometry_msgs::Pose target_pose270;
target_pose270.position.x=0.26;
target_pose270.position.y=-0.002;
target_pose270.position.z=0.215;
target_pose270.orientation.x = 0.0;
target_pose270.orientation.y = 0.7071;
target_pose270.orientation.z = 0.0;
target_pose270.orientation.w = 0.7071;
group.setPoseTarget(target_pose270);
group.move();
geometry_msgs::Pose target_pose271;
target_pose271.position.x=0.259;
target_pose271.position.y=-0.002;
target_pose271.position.z=0.215;
target_pose271.orientation.x = 0.0;
target_pose271.orientation.y = 0.7071;
target_pose271.orientation.z = 0.0;
target_pose271.orientation.w = 0.7071;
group.setPoseTarget(target_pose271);
group.move();
geometry_msgs::Pose target_pose272;
target_pose272.position.x=0.258;
target_pose272.position.y=-0.002;
target_pose272.position.z=0.215;
target_pose272.orientation.x = 0.0;
target_pose272.orientation.y = 0.7071;
target_pose272.orientation.z = 0.0;
target_pose272.orientation.w = 0.7071;
group.setPoseTarget(target_pose272);
group.move();
geometry_msgs::Pose target_pose273;
target_pose273.position.x=0.257;
target_pose273.position.y=-0.001;
target_pose273.position.z=0.215;
target_pose273.orientation.x = 0.0;
target_pose273.orientation.y = 0.7071;
target_pose273.orientation.z = 0.0;
target_pose273.orientation.w = 0.7071;
group.setPoseTarget(target_pose273);
group.move();
geometry_msgs::Pose target_pose274;
target_pose274.position.x=0.256;
target_pose274.position.y=-0.001;
target_pose274.position.z=0.215;
target_pose274.orientation.x = 0.0;
target_pose274.orientation.y = 0.7071;
target_pose274.orientation.z = 0.0;
target_pose274.orientation.w = 0.7071;
group.setPoseTarget(target_pose274);
group.move();
geometry_msgs::Pose target_pose275;
target_pose275.position.x=0.255;
target_pose275.position.y=-0.001;
target_pose275.position.z=0.215;
target_pose275.orientation.x = 0.0;
target_pose275.orientation.y = 0.7071;
target_pose275.orientation.z = 0.0;
target_pose275.orientation.w = 0.7071;
group.setPoseTarget(target_pose275);
group.move();
geometry_msgs::Pose target_pose276;
target_pose276.position.x=0.254;
target_pose276.position.y=0;
target_pose276.position.z=0.215;
target_pose276.orientation.x = 0.0;
target_pose276.orientation.y = 0.7071;
target_pose276.orientation.z = 0.0;
target_pose276.orientation.w = 0.7071;
group.setPoseTarget(target_pose276);
group.move();
geometry_msgs::Pose target_pose277;
target_pose277.position.x=0.253;
target_pose277.position.y=0;
target_pose277.position.z=0.215;
target_pose277.orientation.x = 0.0;
target_pose277.orientation.y = 0.7071;
target_pose277.orientation.z = 0.0;
target_pose277.orientation.w = 0.7071;
group.setPoseTarget(target_pose277);
group.move();
geometry_msgs::Pose target_pose278;
target_pose278.position.x=0.252;
target_pose278.position.y=0;
target_pose278.position.z=0.215;
target_pose278.orientation.x = 0.0;
target_pose278.orientation.y = 0.7071;
target_pose278.orientation.z = 0.0;
target_pose278.orientation.w = 0.7071;
group.setPoseTarget(target_pose278);
group.move();
geometry_msgs::Pose target_pose279;
target_pose279.position.x=0.251;
target_pose279.position.y=0;
target_pose279.position.z=0.215;
target_pose279.orientation.x = 0.0;
target_pose279.orientation.y = 0.7071;
target_pose279.orientation.z = 0.0;
target_pose279.orientation.w = 0.7071;
group.setPoseTarget(target_pose279);
group.move();
geometry_msgs::Pose target_pose280;
target_pose280.position.x=0.25;
target_pose280.position.y=0.001;
target_pose280.position.z=0.215;
target_pose280.orientation.x = 0.0;
target_pose280.orientation.y = 0.7071;
target_pose280.orientation.z = 0.0;
target_pose280.orientation.w = 0.7071;
group.setPoseTarget(target_pose280);
group.move();
geometry_msgs::Pose target_pose281;
target_pose281.position.x=0.249;
target_pose281.position.y=0.001;
target_pose281.position.z=0.215;
target_pose281.orientation.x = 0.0;
target_pose281.orientation.y = 0.7071;
target_pose281.orientation.z = 0.0;
target_pose281.orientation.w = 0.7071;
group.setPoseTarget(target_pose281);
group.move();
geometry_msgs::Pose target_pose282;
target_pose282.position.x=0.247;
target_pose282.position.y=0.002;
target_pose282.position.z=0.215;
target_pose282.orientation.x = 0.0;
target_pose282.orientation.y = 0.7071;
target_pose282.orientation.z = 0.0;
target_pose282.orientation.w = 0.7071;
group.setPoseTarget(target_pose282);
group.move();
geometry_msgs::Pose target_pose283;
target_pose283.position.x=0.246;
target_pose283.position.y=0.002;
target_pose283.position.z=0.215;
target_pose283.orientation.x = 0.0;
target_pose283.orientation.y = 0.7071;
target_pose283.orientation.z = 0.0;
target_pose283.orientation.w = 0.7071;
group.setPoseTarget(target_pose283);
group.move();
geometry_msgs::Pose target_pose284;
target_pose284.position.x=0.244;
target_pose284.position.y=0.003;
target_pose284.position.z=0.215;
target_pose284.orientation.x = 0.0;
target_pose284.orientation.y = 0.7071;
target_pose284.orientation.z = 0.0;
target_pose284.orientation.w = 0.7071;
group.setPoseTarget(target_pose284);
group.move();
geometry_msgs::Pose target_pose285;
target_pose285.position.x=0.243;
target_pose285.position.y=0.003;
target_pose285.position.z=0.215;
target_pose285.orientation.x = 0.0;
target_pose285.orientation.y = 0.7071;
target_pose285.orientation.z = 0.0;
target_pose285.orientation.w = 0.7071;
group.setPoseTarget(target_pose285);
group.move();
geometry_msgs::Pose target_pose286;
target_pose286.position.x=0.242;
target_pose286.position.y=0.004;
target_pose286.position.z=0.215;
target_pose286.orientation.x = 0.0;
target_pose286.orientation.y = 0.7071;
target_pose286.orientation.z = 0.0;
target_pose286.orientation.w = 0.7071;
group.setPoseTarget(target_pose286);
group.move();
geometry_msgs::Pose target_pose287;
target_pose287.position.x=0.241;
target_pose287.position.y=0.004;
target_pose287.position.z=0.215;
target_pose287.orientation.x = 0.0;
target_pose287.orientation.y = 0.7071;
target_pose287.orientation.z = 0.0;
target_pose287.orientation.w = 0.7071;
group.setPoseTarget(target_pose287);
group.move();
geometry_msgs::Pose target_pose288;
target_pose288.position.x=0.24;
target_pose288.position.y=0.005;
target_pose288.position.z=0.215;
target_pose288.orientation.x = 0.0;
target_pose288.orientation.y = 0.7071;
target_pose288.orientation.z = 0.0;
target_pose288.orientation.w = 0.7071;
group.setPoseTarget(target_pose288);
group.move();
geometry_msgs::Pose target_pose289;
target_pose289.position.x=0.239;
target_pose289.position.y=0.005;
target_pose289.position.z=0.215;
target_pose289.orientation.x = 0.0;
target_pose289.orientation.y = 0.7071;
target_pose289.orientation.z = 0.0;
target_pose289.orientation.w = 0.7071;
group.setPoseTarget(target_pose289);
group.move();
geometry_msgs::Pose target_pose290;
target_pose290.position.x=0.238;
target_pose290.position.y=0.005;
target_pose290.position.z=0.215;
target_pose290.orientation.x = 0.0;
target_pose290.orientation.y = 0.7071;
target_pose290.orientation.z = 0.0;
target_pose290.orientation.w = 0.7071;
group.setPoseTarget(target_pose290);
group.move();
geometry_msgs::Pose target_pose291;
target_pose291.position.x=0.237;
target_pose291.position.y=0.006;
target_pose291.position.z=0.215;
target_pose291.orientation.x = 0.0;
target_pose291.orientation.y = 0.7071;
target_pose291.orientation.z = 0.0;
target_pose291.orientation.w = 0.7071;
group.setPoseTarget(target_pose291);
group.move();
geometry_msgs::Pose target_pose292;
target_pose292.position.x=0.236;
target_pose292.position.y=0.007;
target_pose292.position.z=0.215;
target_pose292.orientation.x = 0.0;
target_pose292.orientation.y = 0.7071;
target_pose292.orientation.z = 0.0;
target_pose292.orientation.w = 0.7071;
group.setPoseTarget(target_pose292);
group.move();
geometry_msgs::Pose target_pose293;
target_pose293.position.x=0.234;
target_pose293.position.y=0.008;
target_pose293.position.z=0.216;
target_pose293.orientation.x = 0.0;
target_pose293.orientation.y = 0.7071;
target_pose293.orientation.z = 0.0;
target_pose293.orientation.w = 0.7071;
group.setPoseTarget(target_pose293);
group.move();
geometry_msgs::Pose target_pose294;
target_pose294.position.x=0.233;
target_pose294.position.y=0.008;
target_pose294.position.z=0.215;
target_pose294.orientation.x = 0.0;
target_pose294.orientation.y = 0.7071;
target_pose294.orientation.z = 0.0;
target_pose294.orientation.w = 0.7071;
group.setPoseTarget(target_pose294);
group.move();
geometry_msgs::Pose target_pose295;
target_pose295.position.x=0.232;
target_pose295.position.y=0.009;
target_pose295.position.z=0.216;
target_pose295.orientation.x = 0.0;
target_pose295.orientation.y = 0.7071;
target_pose295.orientation.z = 0.0;
target_pose295.orientation.w = 0.7071;
group.setPoseTarget(target_pose295);
group.move();
geometry_msgs::Pose target_pose296;
target_pose296.position.x=0.23;
target_pose296.position.y=0.01;
target_pose296.position.z=0.216;
target_pose296.orientation.x = 0.0;
target_pose296.orientation.y = 0.7071;
target_pose296.orientation.z = 0.0;
target_pose296.orientation.w = 0.7071;
group.setPoseTarget(target_pose296);
group.move();
geometry_msgs::Pose target_pose297;
target_pose297.position.x=0.229;
target_pose297.position.y=0.011;
target_pose297.position.z=0.216;
target_pose297.orientation.x = 0.0;
target_pose297.orientation.y = 0.7071;
target_pose297.orientation.z = 0.0;
target_pose297.orientation.w = 0.7071;
group.setPoseTarget(target_pose297);
group.move();
geometry_msgs::Pose target_pose298;
target_pose298.position.x=0.228;
target_pose298.position.y=0.011;
target_pose298.position.z=0.216;
target_pose298.orientation.x = 0.0;
target_pose298.orientation.y = 0.7071;
target_pose298.orientation.z = 0.0;
target_pose298.orientation.w = 0.7071;
group.setPoseTarget(target_pose298);
group.move();
geometry_msgs::Pose target_pose299;
target_pose299.position.x=0.227;
target_pose299.position.y=0.012;
target_pose299.position.z=0.216;
target_pose299.orientation.x = 0.0;
target_pose299.orientation.y = 0.7071;
target_pose299.orientation.z = 0.0;
target_pose299.orientation.w = 0.7071;
group.setPoseTarget(target_pose299);
group.move();
geometry_msgs::Pose target_pose300;
target_pose300.position.x=0.226;
target_pose300.position.y=0.012;
target_pose300.position.z=0.216;
target_pose300.orientation.x = 0.0;
target_pose300.orientation.y = 0.7071;
target_pose300.orientation.z = 0.0;
target_pose300.orientation.w = 0.7071;
group.setPoseTarget(target_pose300);
group.move();
geometry_msgs::Pose target_pose301;
target_pose301.position.x=0.225;
target_pose301.position.y=0.013;
target_pose301.position.z=0.216;
target_pose301.orientation.x = 0.0;
target_pose301.orientation.y = 0.7071;
target_pose301.orientation.z = 0.0;
target_pose301.orientation.w = 0.7071;
group.setPoseTarget(target_pose301);
group.move();
geometry_msgs::Pose target_pose302;
target_pose302.position.x=0.224;
target_pose302.position.y=0.014;
target_pose302.position.z=0.216;
target_pose302.orientation.x = 0.0;
target_pose302.orientation.y = 0.7071;
target_pose302.orientation.z = 0.0;
target_pose302.orientation.w = 0.7071;
group.setPoseTarget(target_pose302);
group.move();
geometry_msgs::Pose target_pose303;
target_pose303.position.x=0.222;
target_pose303.position.y=0.015;
target_pose303.position.z=0.216;
target_pose303.orientation.x = 0.0;
target_pose303.orientation.y = 0.7071;
target_pose303.orientation.z = 0.0;
target_pose303.orientation.w = 0.7071;
group.setPoseTarget(target_pose303);
group.move();
geometry_msgs::Pose target_pose304;
target_pose304.position.x=0.221;
target_pose304.position.y=0.016;
target_pose304.position.z=0.216;
target_pose304.orientation.x = 0.0;
target_pose304.orientation.y = 0.7071;
target_pose304.orientation.z = 0.0;
target_pose304.orientation.w = 0.7071;
group.setPoseTarget(target_pose304);
group.move();
geometry_msgs::Pose target_pose305;
target_pose305.position.x=0.22;
target_pose305.position.y=0.017;
target_pose305.position.z=0.216;
target_pose305.orientation.x = 0.0;
target_pose305.orientation.y = 0.7071;
target_pose305.orientation.z = 0.0;
target_pose305.orientation.w = 0.7071;
group.setPoseTarget(target_pose305);
group.move();
geometry_msgs::Pose target_pose306;
target_pose306.position.x=0.219;
target_pose306.position.y=0.018;
target_pose306.position.z=0.217;
target_pose306.orientation.x = 0.0;
target_pose306.orientation.y = 0.7071;
target_pose306.orientation.z = 0.0;
target_pose306.orientation.w = 0.7071;
group.setPoseTarget(target_pose306);
group.move();
geometry_msgs::Pose target_pose307;
target_pose307.position.x=0.218;
target_pose307.position.y=0.018;
target_pose307.position.z=0.217;
target_pose307.orientation.x = 0.0;
target_pose307.orientation.y = 0.7071;
target_pose307.orientation.z = 0.0;
target_pose307.orientation.w = 0.7071;
group.setPoseTarget(target_pose307);
group.move();
geometry_msgs::Pose target_pose308;
target_pose308.position.x=0.218;
target_pose308.position.y=0.018;
target_pose308.position.z=0.260;
target_pose308.orientation.x = 0.0;
target_pose308.orientation.y = 0.7071;
target_pose308.orientation.z = 0.0;
target_pose308.orientation.w = 0.7071;
group.setPoseTarget(target_pose308);
group.move();
geometry_msgs::Pose target_pose309;
target_pose309.position.x=0.293;
target_pose309.position.y=-0.003;
target_pose309.position.z=0.260;
target_pose309.orientation.x = 0.0;
target_pose309.orientation.y = 0.7071;
target_pose309.orientation.z = 0.0;
target_pose309.orientation.w = 0.7071;
group.setPoseTarget(target_pose309);
group.move();
geometry_msgs::Pose target_pose310;
target_pose310.position.x=0.293;
target_pose310.position.y=-0.003;
target_pose310.position.z=0.215;
target_pose310.orientation.x = 0.0;
target_pose310.orientation.y = 0.7071;
target_pose310.orientation.z = 0.0;
target_pose310.orientation.w = 0.7071;
group.setPoseTarget(target_pose310);
group.move();
geometry_msgs::Pose target_pose311;
target_pose311.position.x=0.293;
target_pose311.position.y=-0.004;
target_pose311.position.z=0.214;
target_pose311.orientation.x = 0.0;
target_pose311.orientation.y = 0.7071;
target_pose311.orientation.z = 0.0;
target_pose311.orientation.w = 0.7071;
group.setPoseTarget(target_pose311);
group.move();
geometry_msgs::Pose target_pose312;
target_pose312.position.x=0.293;
target_pose312.position.y=-0.005;
target_pose312.position.z=0.215;
target_pose312.orientation.x = 0.0;
target_pose312.orientation.y = 0.7071;
target_pose312.orientation.z = 0.0;
target_pose312.orientation.w = 0.7071;
group.setPoseTarget(target_pose312);
group.move();
geometry_msgs::Pose target_pose313;
target_pose313.position.x=0.293;
target_pose313.position.y=-0.006;
target_pose313.position.z=0.215;
target_pose313.orientation.x = 0.0;
target_pose313.orientation.y = 0.7071;
target_pose313.orientation.z = 0.0;
target_pose313.orientation.w = 0.7071;
group.setPoseTarget(target_pose313);
group.move();
geometry_msgs::Pose target_pose314;
target_pose314.position.x=0.293;
target_pose314.position.y=-0.007;
target_pose314.position.z=0.215;
target_pose314.orientation.x = 0.0;
target_pose314.orientation.y = 0.7071;
target_pose314.orientation.z = 0.0;
target_pose314.orientation.w = 0.7071;
group.setPoseTarget(target_pose314);
group.move();
geometry_msgs::Pose target_pose315;
target_pose315.position.x=0.293;
target_pose315.position.y=-0.008;
target_pose315.position.z=0.215;
target_pose315.orientation.x = 0.0;
target_pose315.orientation.y = 0.7071;
target_pose315.orientation.z = 0.0;
target_pose315.orientation.w = 0.7071;
group.setPoseTarget(target_pose315);
group.move();
geometry_msgs::Pose target_pose316;
target_pose316.position.x=0.293;
target_pose316.position.y=-0.009;
target_pose316.position.z=0.215;
target_pose316.orientation.x = 0.0;
target_pose316.orientation.y = 0.7071;
target_pose316.orientation.z = 0.0;
target_pose316.orientation.w = 0.7071;
group.setPoseTarget(target_pose316);
group.move();
geometry_msgs::Pose target_pose317;
target_pose317.position.x=0.293;
target_pose317.position.y=-0.01;
target_pose317.position.z=0.215;
target_pose317.orientation.x = 0.0;
target_pose317.orientation.y = 0.7071;
target_pose317.orientation.z = 0.0;
target_pose317.orientation.w = 0.7071;
group.setPoseTarget(target_pose317);
group.move();
geometry_msgs::Pose target_pose318;
target_pose318.position.x=0.294;
target_pose318.position.y=-0.011;
target_pose318.position.z=0.216;
target_pose318.orientation.x = 0.0;
target_pose318.orientation.y = 0.7071;
target_pose318.orientation.z = 0.0;
target_pose318.orientation.w = 0.7071;
group.setPoseTarget(target_pose318);
group.move();
geometry_msgs::Pose target_pose319;
target_pose319.position.x=0.294;
target_pose319.position.y=-0.012;
target_pose319.position.z=0.216;
target_pose319.orientation.x = 0.0;
target_pose319.orientation.y = 0.7071;
target_pose319.orientation.z = 0.0;
target_pose319.orientation.w = 0.7071;
group.setPoseTarget(target_pose319);
group.move();
geometry_msgs::Pose target_pose320;
target_pose320.position.x=0.294;
target_pose320.position.y=-0.013;
target_pose320.position.z=0.216;
target_pose320.orientation.x = 0.0;
target_pose320.orientation.y = 0.7071;
target_pose320.orientation.z = 0.0;
target_pose320.orientation.w = 0.7071;
group.setPoseTarget(target_pose320);
group.move();
geometry_msgs::Pose target_pose321;
target_pose321.position.x=0.294;
target_pose321.position.y=-0.014;
target_pose321.position.z=0.216;
target_pose321.orientation.x = 0.0;
target_pose321.orientation.y = 0.7071;
target_pose321.orientation.z = 0.0;
target_pose321.orientation.w = 0.7071;
group.setPoseTarget(target_pose321);
group.move();
geometry_msgs::Pose target_pose322;
target_pose322.position.x=0.294;
target_pose322.position.y=-0.015;
target_pose322.position.z=0.216;
target_pose322.orientation.x = 0.0;
target_pose322.orientation.y = 0.7071;
target_pose322.orientation.z = 0.0;
target_pose322.orientation.w = 0.7071;
group.setPoseTarget(target_pose322);
group.move();
geometry_msgs::Pose target_pose323;
target_pose323.position.x=0.295;
target_pose323.position.y=-0.016;
target_pose323.position.z=0.216;
target_pose323.orientation.x = 0.0;
target_pose323.orientation.y = 0.7071;
target_pose323.orientation.z = 0.0;
target_pose323.orientation.w = 0.7071;
group.setPoseTarget(target_pose323);
group.move();
geometry_msgs::Pose target_pose324;
target_pose324.position.x=0.295;
target_pose324.position.y=-0.017;
target_pose324.position.z=0.215;
target_pose324.orientation.x = 0.0;
target_pose324.orientation.y = 0.7071;
target_pose324.orientation.z = 0.0;
target_pose324.orientation.w = 0.7071;
group.setPoseTarget(target_pose324);
group.move();
geometry_msgs::Pose target_pose325;
target_pose325.position.x=0.295;
target_pose325.position.y=-0.018;
target_pose325.position.z=0.215;
target_pose325.orientation.x = 0.0;
target_pose325.orientation.y = 0.7071;
target_pose325.orientation.z = 0.0;
target_pose325.orientation.w = 0.7071;
group.setPoseTarget(target_pose325);
group.move();
geometry_msgs::Pose target_pose326;
target_pose326.position.x=0.295;
target_pose326.position.y=-0.019;
target_pose326.position.z=0.215;
target_pose326.orientation.x = 0.0;
target_pose326.orientation.y = 0.7071;
target_pose326.orientation.z = 0.0;
target_pose326.orientation.w = 0.7071;
group.setPoseTarget(target_pose326);
group.move();
geometry_msgs::Pose target_pose327;
target_pose327.position.x=0.295;
target_pose327.position.y=-0.02;
target_pose327.position.z=0.215;
target_pose327.orientation.x = 0.0;
target_pose327.orientation.y = 0.7071;
target_pose327.orientation.z = 0.0;
target_pose327.orientation.w = 0.7071;
group.setPoseTarget(target_pose327);
group.move();
geometry_msgs::Pose target_pose328;
target_pose328.position.x=0.296;
target_pose328.position.y=-0.021;
target_pose328.position.z=0.215;
target_pose328.orientation.x = 0.0;
target_pose328.orientation.y = 0.7071;
target_pose328.orientation.z = 0.0;
target_pose328.orientation.w = 0.7071;
group.setPoseTarget(target_pose328);
group.move();
geometry_msgs::Pose target_pose329;
target_pose329.position.x=0.296;
target_pose329.position.y=-0.022;
target_pose329.position.z=0.214;
target_pose329.orientation.x = 0.0;
target_pose329.orientation.y = 0.7071;
target_pose329.orientation.z = 0.0;
target_pose329.orientation.w = 0.7071;
group.setPoseTarget(target_pose329);
group.move();
geometry_msgs::Pose target_pose330;
target_pose330.position.x=0.296;
target_pose330.position.y=-0.023;
target_pose330.position.z=0.214;
target_pose330.orientation.x = 0.0;
target_pose330.orientation.y = 0.7071;
target_pose330.orientation.z = 0.0;
target_pose330.orientation.w = 0.7071;
group.setPoseTarget(target_pose330);
group.move();
geometry_msgs::Pose target_pose331;
target_pose331.position.x=0.297;
target_pose331.position.y=-0.024;
target_pose331.position.z=0.214;
target_pose331.orientation.x = 0.0;
target_pose331.orientation.y = 0.7071;
target_pose331.orientation.z = 0.0;
target_pose331.orientation.w = 0.7071;
group.setPoseTarget(target_pose331);
group.move();
geometry_msgs::Pose target_pose332;
target_pose332.position.x=0.298;
target_pose332.position.y=-0.024;
target_pose332.position.z=0.213;
target_pose332.orientation.x = 0.0;
target_pose332.orientation.y = 0.7071;
target_pose332.orientation.z = 0.0;
target_pose332.orientation.w = 0.7071;
group.setPoseTarget(target_pose332);
group.move();
geometry_msgs::Pose target_pose333;
target_pose333.position.x=0.297;
target_pose333.position.y=-0.025;
target_pose333.position.z=0.213;
target_pose333.orientation.x = 0.0;
target_pose333.orientation.y = 0.7071;
target_pose333.orientation.z = 0.0;
target_pose333.orientation.w = 0.7071;
group.setPoseTarget(target_pose333);
group.move();
geometry_msgs::Pose target_pose334;
target_pose334.position.x=0.296;
target_pose334.position.y=-0.026;
target_pose334.position.z=0.213;
target_pose334.orientation.x = 0.0;
target_pose334.orientation.y = 0.7071;
target_pose334.orientation.z = 0.0;
target_pose334.orientation.w = 0.7071;
group.setPoseTarget(target_pose334);
group.move();
geometry_msgs::Pose target_pose335;
target_pose335.position.x=0.295;
target_pose335.position.y=-0.027;
target_pose335.position.z=0.213;
target_pose335.orientation.x = 0.0;
target_pose335.orientation.y = 0.7071;
target_pose335.orientation.z = 0.0;
target_pose335.orientation.w = 0.7071;
group.setPoseTarget(target_pose335);
group.move();
geometry_msgs::Pose target_pose336;
target_pose336.position.x=0.294;
target_pose336.position.y=-0.028;
target_pose336.position.z=0.214;
target_pose336.orientation.x = 0.0;
target_pose336.orientation.y = 0.7071;
target_pose336.orientation.z = 0.0;
target_pose336.orientation.w = 0.7071;
group.setPoseTarget(target_pose336);
group.move();
geometry_msgs::Pose target_pose337;
target_pose337.position.x=0.293;
target_pose337.position.y=-0.029;
target_pose337.position.z=0.214;
target_pose337.orientation.x = 0.0;
target_pose337.orientation.y = 0.7071;
target_pose337.orientation.z = 0.0;
target_pose337.orientation.w = 0.7071;
group.setPoseTarget(target_pose337);
group.move();
geometry_msgs::Pose target_pose338;
target_pose338.position.x=0.293;
target_pose338.position.y=-0.028;
target_pose338.position.z=0.214;
target_pose338.orientation.x = 0.0;
target_pose338.orientation.y = 0.7071;
target_pose338.orientation.z = 0.0;
target_pose338.orientation.w = 0.7071;
group.setPoseTarget(target_pose338);
group.move();
geometry_msgs::Pose target_pose339;
target_pose339.position.x=0.292;
target_pose339.position.y=-0.027;
target_pose339.position.z=0.213;
target_pose339.orientation.x = 0.0;
target_pose339.orientation.y = 0.7071;
target_pose339.orientation.z = 0.0;
target_pose339.orientation.w = 0.7071;
group.setPoseTarget(target_pose339);
group.move();
geometry_msgs::Pose target_pose340;
target_pose340.position.x=0.291;
target_pose340.position.y=-0.026;
target_pose340.position.z=0.214;
target_pose340.orientation.x = 0.0;
target_pose340.orientation.y = 0.7071;
target_pose340.orientation.z = 0.0;
target_pose340.orientation.w = 0.7071;
group.setPoseTarget(target_pose340);
group.move();
geometry_msgs::Pose target_pose341;
target_pose341.position.x=0.29;
target_pose341.position.y=-0.026;
target_pose341.position.z=0.214;
target_pose341.orientation.x = 0.0;
target_pose341.orientation.y = 0.7071;
target_pose341.orientation.z = 0.0;
target_pose341.orientation.w = 0.7071;
group.setPoseTarget(target_pose341);
group.move();
geometry_msgs::Pose target_pose342;
target_pose342.position.x=0.289;
target_pose342.position.y=-0.026;
target_pose342.position.z=0.214;
target_pose342.orientation.x = 0.0;
target_pose342.orientation.y = 0.7071;
target_pose342.orientation.z = 0.0;
target_pose342.orientation.w = 0.7071;
group.setPoseTarget(target_pose342);
group.move();
geometry_msgs::Pose target_pose343;
target_pose343.position.x=0.288;
target_pose343.position.y=-0.025;
target_pose343.position.z=0.215;
target_pose343.orientation.x = 0.0;
target_pose343.orientation.y = 0.7071;
target_pose343.orientation.z = 0.0;
target_pose343.orientation.w = 0.7071;
group.setPoseTarget(target_pose343);
group.move();
geometry_msgs::Pose target_pose344;
target_pose344.position.x=0.287;
target_pose344.position.y=-0.025;
target_pose344.position.z=0.214;
target_pose344.orientation.x = 0.0;
target_pose344.orientation.y = 0.7071;
target_pose344.orientation.z = 0.0;
target_pose344.orientation.w = 0.7071;
group.setPoseTarget(target_pose344);
group.move();
geometry_msgs::Pose target_pose345;
target_pose345.position.x=0.286;
target_pose345.position.y=-0.025;
target_pose345.position.z=0.214;
target_pose345.orientation.x = 0.0;
target_pose345.orientation.y = 0.7071;
target_pose345.orientation.z = 0.0;
target_pose345.orientation.w = 0.7071;
group.setPoseTarget(target_pose345);
group.move();
geometry_msgs::Pose target_pose346;
target_pose346.position.x=0.285;
target_pose346.position.y=-0.024;
target_pose346.position.z=0.215;
target_pose346.orientation.x = 0.0;
target_pose346.orientation.y = 0.7071;
target_pose346.orientation.z = 0.0;
target_pose346.orientation.w = 0.7071;
group.setPoseTarget(target_pose346);
group.move();
geometry_msgs::Pose target_pose347;
target_pose347.position.x=0.284;
target_pose347.position.y=-0.024;
target_pose347.position.z=0.215;
target_pose347.orientation.x = 0.0;
target_pose347.orientation.y = 0.7071;
target_pose347.orientation.z = 0.0;
target_pose347.orientation.w = 0.7071;
group.setPoseTarget(target_pose347);
group.move();
geometry_msgs::Pose target_pose348;
target_pose348.position.x=0.283;
target_pose348.position.y=-0.024;
target_pose348.position.z=0.215;
target_pose348.orientation.x = 0.0;
target_pose348.orientation.y = 0.7071;
target_pose348.orientation.z = 0.0;
target_pose348.orientation.w = 0.7071;
group.setPoseTarget(target_pose348);
group.move();
geometry_msgs::Pose target_pose349;
target_pose349.position.x=0.282;
target_pose349.position.y=-0.024;
target_pose349.position.z=0.215;
target_pose349.orientation.x = 0.0;
target_pose349.orientation.y = 0.7071;
target_pose349.orientation.z = 0.0;
target_pose349.orientation.w = 0.7071;
group.setPoseTarget(target_pose349);
group.move();
geometry_msgs::Pose target_pose350;
target_pose350.position.x=0.281;
target_pose350.position.y=-0.024;
target_pose350.position.z=0.215;
target_pose350.orientation.x = 0.0;
target_pose350.orientation.y = 0.7071;
target_pose350.orientation.z = 0.0;
target_pose350.orientation.w = 0.7071;
group.setPoseTarget(target_pose350);
group.move();
geometry_msgs::Pose target_pose351;
target_pose351.position.x=0.28;
target_pose351.position.y=-0.024;
target_pose351.position.z=0.215;
target_pose351.orientation.x = 0.0;
target_pose351.orientation.y = 0.7071;
target_pose351.orientation.z = 0.0;
target_pose351.orientation.w = 0.7071;
group.setPoseTarget(target_pose351);
group.move();
geometry_msgs::Pose target_pose352;
target_pose352.position.x=0.279;
target_pose352.position.y=-0.023;
target_pose352.position.z=0.215;
target_pose352.orientation.x = 0.0;
target_pose352.orientation.y = 0.7071;
target_pose352.orientation.z = 0.0;
target_pose352.orientation.w = 0.7071;
group.setPoseTarget(target_pose352);
group.move();
geometry_msgs::Pose target_pose353;
target_pose353.position.x=0.278;
target_pose353.position.y=-0.023;
target_pose353.position.z=0.215;
target_pose353.orientation.x = 0.0;
target_pose353.orientation.y = 0.7071;
target_pose353.orientation.z = 0.0;
target_pose353.orientation.w = 0.7071;
group.setPoseTarget(target_pose353);
group.move();
geometry_msgs::Pose target_pose354;
target_pose354.position.x=0.277;
target_pose354.position.y=-0.023;
target_pose354.position.z=0.215;
target_pose354.orientation.x = 0.0;
target_pose354.orientation.y = 0.7071;
target_pose354.orientation.z = 0.0;
target_pose354.orientation.w = 0.7071;
group.setPoseTarget(target_pose354);
group.move();
geometry_msgs::Pose target_pose355;
target_pose355.position.x=0.275;
target_pose355.position.y=-0.022;
target_pose355.position.z=0.215;
target_pose355.orientation.x = 0.0;
target_pose355.orientation.y = 0.7071;
target_pose355.orientation.z = 0.0;
target_pose355.orientation.w = 0.7071;
group.setPoseTarget(target_pose355);
group.move();
geometry_msgs::Pose target_pose356;
target_pose356.position.x=0.274;
target_pose356.position.y=-0.022;
target_pose356.position.z=0.215;
target_pose356.orientation.x = 0.0;
target_pose356.orientation.y = 0.7071;
target_pose356.orientation.z = 0.0;
target_pose356.orientation.w = 0.7071;
group.setPoseTarget(target_pose356);
group.move();
geometry_msgs::Pose target_pose357;
target_pose357.position.x=0.273;
target_pose357.position.y=-0.021;
target_pose357.position.z=0.216;
target_pose357.orientation.x = 0.0;
target_pose357.orientation.y = 0.7071;
target_pose357.orientation.z = 0.0;
target_pose357.orientation.w = 0.7071;
group.setPoseTarget(target_pose357);
group.move();
geometry_msgs::Pose target_pose358;
target_pose358.position.x=0.272;
target_pose358.position.y=-0.021;
target_pose358.position.z=0.216;
target_pose358.orientation.x = 0.0;
target_pose358.orientation.y = 0.7071;
target_pose358.orientation.z = 0.0;
target_pose358.orientation.w = 0.7071;
group.setPoseTarget(target_pose358);
group.move();
geometry_msgs::Pose target_pose359;
target_pose359.position.x=0.271;
target_pose359.position.y=-0.021;
target_pose359.position.z=0.215;
target_pose359.orientation.x = 0.0;
target_pose359.orientation.y = 0.7071;
target_pose359.orientation.z = 0.0;
target_pose359.orientation.w = 0.7071;
group.setPoseTarget(target_pose359);
group.move();
geometry_msgs::Pose target_pose360;
target_pose360.position.x=0.27;
target_pose360.position.y=-0.021;
target_pose360.position.z=0.215;
target_pose360.orientation.x = 0.0;
target_pose360.orientation.y = 0.7071;
target_pose360.orientation.z = 0.0;
target_pose360.orientation.w = 0.7071;
group.setPoseTarget(target_pose360);
group.move();
geometry_msgs::Pose target_pose361;
target_pose361.position.x=0.269;
target_pose361.position.y=-0.021;
target_pose361.position.z=0.215;
target_pose361.orientation.x = 0.0;
target_pose361.orientation.y = 0.7071;
target_pose361.orientation.z = 0.0;
target_pose361.orientation.w = 0.7071;
group.setPoseTarget(target_pose361);
group.move();
geometry_msgs::Pose target_pose362;
target_pose362.position.x=0.268;
target_pose362.position.y=-0.021;
target_pose362.position.z=0.215;
target_pose362.orientation.x = 0.0;
target_pose362.orientation.y = 0.7071;
target_pose362.orientation.z = 0.0;
target_pose362.orientation.w = 0.7071;
group.setPoseTarget(target_pose362);
group.move();
geometry_msgs::Pose target_pose363;
target_pose363.position.x=0.267;
target_pose363.position.y=-0.02;
target_pose363.position.z=0.216;
target_pose363.orientation.x = 0.0;
target_pose363.orientation.y = 0.7071;
target_pose363.orientation.z = 0.0;
target_pose363.orientation.w = 0.7071;
group.setPoseTarget(target_pose363);
group.move();
geometry_msgs::Pose target_pose364;
target_pose364.position.x=0.266;
target_pose364.position.y=-0.02;
target_pose364.position.z=0.216;
target_pose364.orientation.x = 0.0;
target_pose364.orientation.y = 0.7071;
target_pose364.orientation.z = 0.0;
target_pose364.orientation.w = 0.7071;
group.setPoseTarget(target_pose364);
group.move();
geometry_msgs::Pose target_pose365;
target_pose365.position.x=0.265;
target_pose365.position.y=-0.02;
target_pose365.position.z=0.215;
target_pose365.orientation.x = 0.0;
target_pose365.orientation.y = 0.7071;
target_pose365.orientation.z = 0.0;
target_pose365.orientation.w = 0.7071;
group.setPoseTarget(target_pose365);
group.move();
geometry_msgs::Pose target_pose366;
target_pose366.position.x=0.264;
target_pose366.position.y=-0.02;
target_pose366.position.z=0.215;
target_pose366.orientation.x = 0.0;
target_pose366.orientation.y = 0.7071;
target_pose366.orientation.z = 0.0;
target_pose366.orientation.w = 0.7071;
group.setPoseTarget(target_pose366);
group.move();
geometry_msgs::Pose target_pose367;
target_pose367.position.x=0.263;
target_pose367.position.y=-0.02;
target_pose367.position.z=0.215;
target_pose367.orientation.x = 0.0;
target_pose367.orientation.y = 0.7071;
target_pose367.orientation.z = 0.0;
target_pose367.orientation.w = 0.7071;
group.setPoseTarget(target_pose367);
group.move();
geometry_msgs::Pose target_pose368;
target_pose368.position.x=0.262;
target_pose368.position.y=-0.02;
target_pose368.position.z=0.215;
target_pose368.orientation.x = 0.0;
target_pose368.orientation.y = 0.7071;
target_pose368.orientation.z = 0.0;
target_pose368.orientation.w = 0.7071;
group.setPoseTarget(target_pose368);
group.move();
geometry_msgs::Pose target_pose369;
target_pose369.position.x=0.261;
target_pose369.position.y=-0.02;
target_pose369.position.z=0.215;
target_pose369.orientation.x = 0.0;
target_pose369.orientation.y = 0.7071;
target_pose369.orientation.z = 0.0;
target_pose369.orientation.w = 0.7071;
group.setPoseTarget(target_pose369);
group.move();
geometry_msgs::Pose target_pose370;
target_pose370.position.x=0.26;
target_pose370.position.y=-0.02;
target_pose370.position.z=0.215;
target_pose370.orientation.x = 0.0;
target_pose370.orientation.y = 0.7071;
target_pose370.orientation.z = 0.0;
target_pose370.orientation.w = 0.7071;
group.setPoseTarget(target_pose370);
group.move();
geometry_msgs::Pose target_pose371;
target_pose371.position.x=0.259;
target_pose371.position.y=-0.02;
target_pose371.position.z=0.215;
target_pose371.orientation.x = 0.0;
target_pose371.orientation.y = 0.7071;
target_pose371.orientation.z = 0.0;
target_pose371.orientation.w = 0.7071;
group.setPoseTarget(target_pose371);
group.move();
geometry_msgs::Pose target_pose372;
target_pose372.position.x=0.258;
target_pose372.position.y=-0.019;
target_pose372.position.z=0.216;
target_pose372.orientation.x = 0.0;
target_pose372.orientation.y = 0.7071;
target_pose372.orientation.z = 0.0;
target_pose372.orientation.w = 0.7071;
group.setPoseTarget(target_pose372);
group.move();
geometry_msgs::Pose target_pose373;
target_pose373.position.x=0.257;
target_pose373.position.y=-0.019;
target_pose373.position.z=0.216;
target_pose373.orientation.x = 0.0;
target_pose373.orientation.y = 0.7071;
target_pose373.orientation.z = 0.0;
target_pose373.orientation.w = 0.7071;
group.setPoseTarget(target_pose373);
group.move();
geometry_msgs::Pose target_pose374;
target_pose374.position.x=0.256;
target_pose374.position.y=-0.019;
target_pose374.position.z=0.216;
target_pose374.orientation.x = 0.0;
target_pose374.orientation.y = 0.7071;
target_pose374.orientation.z = 0.0;
target_pose374.orientation.w = 0.7071;
group.setPoseTarget(target_pose374);
group.move();
geometry_msgs::Pose target_pose375;
target_pose375.position.x=0.255;
target_pose375.position.y=-0.019;
target_pose375.position.z=0.216;
target_pose375.orientation.x = 0.0;
target_pose375.orientation.y = 0.7071;
target_pose375.orientation.z = 0.0;
target_pose375.orientation.w = 0.7071;
group.setPoseTarget(target_pose375);
group.move();
geometry_msgs::Pose target_pose376;
target_pose376.position.x=0.254;
target_pose376.position.y=-0.019;
target_pose376.position.z=0.216;
target_pose376.orientation.x = 0.0;
target_pose376.orientation.y = 0.7071;
target_pose376.orientation.z = 0.0;
target_pose376.orientation.w = 0.7071;
group.setPoseTarget(target_pose376);
group.move();
geometry_msgs::Pose target_pose377;
target_pose377.position.x=0.253;
target_pose377.position.y=-0.019;
target_pose377.position.z=0.216;
target_pose377.orientation.x = 0.0;
target_pose377.orientation.y = 0.7071;
target_pose377.orientation.z = 0.0;
target_pose377.orientation.w = 0.7071;
group.setPoseTarget(target_pose377);
group.move();
geometry_msgs::Pose target_pose378;
target_pose378.position.x=0.252;
target_pose378.position.y=-0.019;
target_pose378.position.z=0.216;
target_pose378.orientation.x = 0.0;
target_pose378.orientation.y = 0.7071;
target_pose378.orientation.z = 0.0;
target_pose378.orientation.w = 0.7071;
group.setPoseTarget(target_pose378);
group.move();
geometry_msgs::Pose target_pose379;
target_pose379.position.x=0.251;
target_pose379.position.y=-0.02;
target_pose379.position.z=0.215;
target_pose379.orientation.x = 0.0;
target_pose379.orientation.y = 0.7071;
target_pose379.orientation.z = 0.0;
target_pose379.orientation.w = 0.7071;
group.setPoseTarget(target_pose379);
group.move();
geometry_msgs::Pose target_pose380;
target_pose380.position.x=0.25;
target_pose380.position.y=-0.02;
target_pose380.position.z=0.215;
target_pose380.orientation.x = 0.0;
target_pose380.orientation.y = 0.7071;
target_pose380.orientation.z = 0.0;
target_pose380.orientation.w = 0.7071;
group.setPoseTarget(target_pose380);
group.move();
geometry_msgs::Pose target_pose381;
target_pose381.position.x=0.249;
target_pose381.position.y=-0.02;
target_pose381.position.z=0.215;
target_pose381.orientation.x = 0.0;
target_pose381.orientation.y = 0.7071;
target_pose381.orientation.z = 0.0;
target_pose381.orientation.w = 0.7071;
group.setPoseTarget(target_pose381);
group.move();
geometry_msgs::Pose target_pose382;
target_pose382.position.x=0.248;
target_pose382.position.y=-0.02;
target_pose382.position.z=0.215;
target_pose382.orientation.x = 0.0;
target_pose382.orientation.y = 0.7071;
target_pose382.orientation.z = 0.0;
target_pose382.orientation.w = 0.7071;
group.setPoseTarget(target_pose382);
group.move();
geometry_msgs::Pose target_pose383;
target_pose383.position.x=0.247;
target_pose383.position.y=-0.02;
target_pose383.position.z=0.215;
target_pose383.orientation.x = 0.0;
target_pose383.orientation.y = 0.7071;
target_pose383.orientation.z = 0.0;
target_pose383.orientation.w = 0.7071;
group.setPoseTarget(target_pose383);
group.move();
geometry_msgs::Pose target_pose384;
target_pose384.position.x=0.246;
target_pose384.position.y=-0.02;
target_pose384.position.z=0.215;
target_pose384.orientation.x = 0.0;
target_pose384.orientation.y = 0.7071;
target_pose384.orientation.z = 0.0;
target_pose384.orientation.w = 0.7071;
group.setPoseTarget(target_pose384);
group.move();
geometry_msgs::Pose target_pose385;
target_pose385.position.x=0.245;
target_pose385.position.y=-0.02;
target_pose385.position.z=0.216;
target_pose385.orientation.x = 0.0;
target_pose385.orientation.y = 0.7071;
target_pose385.orientation.z = 0.0;
target_pose385.orientation.w = 0.7071;
group.setPoseTarget(target_pose385);
group.move();
geometry_msgs::Pose target_pose386;
target_pose386.position.x=0.244;
target_pose386.position.y=-0.02;
target_pose386.position.z=0.216;
target_pose386.orientation.x = 0.0;
target_pose386.orientation.y = 0.7071;
target_pose386.orientation.z = 0.0;
target_pose386.orientation.w = 0.7071;
group.setPoseTarget(target_pose386);
group.move();
geometry_msgs::Pose target_pose387;
target_pose387.position.x=0.243;
target_pose387.position.y=-0.02;
target_pose387.position.z=0.216;
target_pose387.orientation.x = 0.0;
target_pose387.orientation.y = 0.7071;
target_pose387.orientation.z = 0.0;
target_pose387.orientation.w = 0.7071;
group.setPoseTarget(target_pose387);
group.move();
geometry_msgs::Pose target_pose388;
target_pose388.position.x=0.242;
target_pose388.position.y=-0.021;
target_pose388.position.z=0.215;
target_pose388.orientation.x = 0.0;
target_pose388.orientation.y = 0.7071;
target_pose388.orientation.z = 0.0;
target_pose388.orientation.w = 0.7071;
group.setPoseTarget(target_pose388);
group.move();
geometry_msgs::Pose target_pose389;
target_pose389.position.x=0.241;
target_pose389.position.y=-0.021;
target_pose389.position.z=0.215;
target_pose389.orientation.x = 0.0;
target_pose389.orientation.y = 0.7071;
target_pose389.orientation.z = 0.0;
target_pose389.orientation.w = 0.7071;
group.setPoseTarget(target_pose389);
group.move();
geometry_msgs::Pose target_pose390;
target_pose390.position.x=0.24;
target_pose390.position.y=-0.021;
target_pose390.position.z=0.216;
target_pose390.orientation.x = 0.0;
target_pose390.orientation.y = 0.7071;
target_pose390.orientation.z = 0.0;
target_pose390.orientation.w = 0.7071;
group.setPoseTarget(target_pose390);
group.move();
geometry_msgs::Pose target_pose391;
target_pose391.position.x=0.239;
target_pose391.position.y=-0.022;
target_pose391.position.z=0.215;
target_pose391.orientation.x = 0.0;
target_pose391.orientation.y = 0.7071;
target_pose391.orientation.z = 0.0;
target_pose391.orientation.w = 0.7071;
group.setPoseTarget(target_pose391);
group.move();
geometry_msgs::Pose target_pose392;
target_pose392.position.x=0.238;
target_pose392.position.y=-0.022;
target_pose392.position.z=0.215;
target_pose392.orientation.x = 0.0;
target_pose392.orientation.y = 0.7071;
target_pose392.orientation.z = 0.0;
target_pose392.orientation.w = 0.7071;
group.setPoseTarget(target_pose392);
group.move();
geometry_msgs::Pose target_pose393;
target_pose393.position.x=0.238;
target_pose393.position.y=-0.023;
target_pose393.position.z=0.215;
target_pose393.orientation.x = 0.0;
target_pose393.orientation.y = 0.7071;
target_pose393.orientation.z = 0.0;
target_pose393.orientation.w = 0.7071;
group.setPoseTarget(target_pose393);
group.move();
geometry_msgs::Pose target_pose394;
target_pose394.position.x=0.237;
target_pose394.position.y=-0.023;
target_pose394.position.z=0.215;
target_pose394.orientation.x = 0.0;
target_pose394.orientation.y = 0.7071;
target_pose394.orientation.z = 0.0;
target_pose394.orientation.w = 0.7071;
group.setPoseTarget(target_pose394);
group.move();
geometry_msgs::Pose target_pose395;
target_pose395.position.x=0.236;
target_pose395.position.y=-0.024;
target_pose395.position.z=0.214;
target_pose395.orientation.x = 0.0;
target_pose395.orientation.y = 0.7071;
target_pose395.orientation.z = 0.0;
target_pose395.orientation.w = 0.7071;
group.setPoseTarget(target_pose395);
group.move();
geometry_msgs::Pose target_pose396;
target_pose396.position.x=0.235;
target_pose396.position.y=-0.025;
target_pose396.position.z=0.214;
target_pose396.orientation.x = 0.0;
target_pose396.orientation.y = 0.7071;
target_pose396.orientation.z = 0.0;
target_pose396.orientation.w = 0.7071;
group.setPoseTarget(target_pose396);
group.move();
geometry_msgs::Pose target_pose397;
target_pose397.position.x=0.234;
target_pose397.position.y=-0.026;
target_pose397.position.z=0.214;
target_pose397.orientation.x = 0.0;
target_pose397.orientation.y = 0.7071;
target_pose397.orientation.z = 0.0;
target_pose397.orientation.w = 0.7071;
group.setPoseTarget(target_pose397);
group.move();
geometry_msgs::Pose target_pose398;
target_pose398.position.x=0.234;
target_pose398.position.y=-0.027;
target_pose398.position.z=0.215;
target_pose398.orientation.x = 0.0;
target_pose398.orientation.y = 0.7071;
target_pose398.orientation.z = 0.0;
target_pose398.orientation.w = 0.7071;
group.setPoseTarget(target_pose398);
group.move();
geometry_msgs::Pose target_pose399;
target_pose399.position.x=0.233;
target_pose399.position.y=-0.027;
target_pose399.position.z=0.214;
target_pose399.orientation.x = 0.0;
target_pose399.orientation.y = 0.7071;
target_pose399.orientation.z = 0.0;
target_pose399.orientation.w = 0.7071;
group.setPoseTarget(target_pose399);
group.move();
geometry_msgs::Pose target_pose400;
target_pose400.position.x=0.233;
target_pose400.position.y=-0.028;
target_pose400.position.z=0.214;
target_pose400.orientation.x = 0.0;
target_pose400.orientation.y = 0.7071;
target_pose400.orientation.z = 0.0;
target_pose400.orientation.w = 0.7071;
group.setPoseTarget(target_pose400);
group.move();
geometry_msgs::Pose target_pose401;
target_pose401.position.x=0.233;
target_pose401.position.y=-0.029;
target_pose401.position.z=0.215;
target_pose401.orientation.x = 0.0;
target_pose401.orientation.y = 0.7071;
target_pose401.orientation.z = 0.0;
target_pose401.orientation.w = 0.7071;
group.setPoseTarget(target_pose401);
group.move();
geometry_msgs::Pose target_pose402;
target_pose402.position.x=0.232;
target_pose402.position.y=-0.029;
target_pose402.position.z=0.214;
target_pose402.orientation.x = 0.0;
target_pose402.orientation.y = 0.7071;
target_pose402.orientation.z = 0.0;
target_pose402.orientation.w = 0.7071;
group.setPoseTarget(target_pose402);
group.move();
geometry_msgs::Pose target_pose403;
target_pose403.position.x=0.232;
target_pose403.position.y=-0.03;
target_pose403.position.z=0.214;
target_pose403.orientation.x = 0.0;
target_pose403.orientation.y = 0.7071;
target_pose403.orientation.z = 0.0;
target_pose403.orientation.w = 0.7071;
group.setPoseTarget(target_pose403);
group.move();
geometry_msgs::Pose target_pose404;
target_pose404.position.x=0.232;
target_pose404.position.y=-0.031;
target_pose404.position.z=0.215;
target_pose404.orientation.x = 0.0;
target_pose404.orientation.y = 0.7071;
target_pose404.orientation.z = 0.0;
target_pose404.orientation.w = 0.7071;
group.setPoseTarget(target_pose404);
group.move();
geometry_msgs::Pose target_pose405;
target_pose405.position.x=0.231;
target_pose405.position.y=-0.032;
target_pose405.position.z=0.214;
target_pose405.orientation.x = 0.0;
target_pose405.orientation.y = 0.7071;
target_pose405.orientation.z = 0.0;
target_pose405.orientation.w = 0.7071;
group.setPoseTarget(target_pose405);
group.move();
geometry_msgs::Pose target_pose406;
target_pose406.position.x=0.231;
target_pose406.position.y=-0.033;
target_pose406.position.z=0.215;
target_pose406.orientation.x = 0.0;
target_pose406.orientation.y = 0.7071;
target_pose406.orientation.z = 0.0;
target_pose406.orientation.w = 0.7071;
group.setPoseTarget(target_pose406);
group.move();
geometry_msgs::Pose target_pose407;
target_pose407.position.x=0.231;
target_pose407.position.y=-0.034;
target_pose407.position.z=0.215;
target_pose407.orientation.x = 0.0;
target_pose407.orientation.y = 0.7071;
target_pose407.orientation.z = 0.0;
target_pose407.orientation.w = 0.7071;
group.setPoseTarget(target_pose407);
group.move();
geometry_msgs::Pose target_pose408;
target_pose408.position.x=0.231;
target_pose408.position.y=-0.035;
target_pose408.position.z=0.215;
target_pose408.orientation.x = 0.0;
target_pose408.orientation.y = 0.7071;
target_pose408.orientation.z = 0.0;
target_pose408.orientation.w = 0.7071;
group.setPoseTarget(target_pose408);
group.move();
geometry_msgs::Pose target_pose409;
target_pose409.position.x=0.23;
target_pose409.position.y=-0.036;
target_pose409.position.z=0.214;
target_pose409.orientation.x = 0.0;
target_pose409.orientation.y = 0.7071;
target_pose409.orientation.z = 0.0;
target_pose409.orientation.w = 0.7071;
group.setPoseTarget(target_pose409);
group.move();
geometry_msgs::Pose target_pose410;
target_pose410.position.x=0.23;
target_pose410.position.y=-0.037;
target_pose410.position.z=0.214;
target_pose410.orientation.x = 0.0;
target_pose410.orientation.y = 0.7071;
target_pose410.orientation.z = 0.0;
target_pose410.orientation.w = 0.7071;
group.setPoseTarget(target_pose410);
group.move();
geometry_msgs::Pose target_pose411;
target_pose411.position.x=0.23;
target_pose411.position.y=-0.038;
target_pose411.position.z=0.214;
target_pose411.orientation.x = 0.0;
target_pose411.orientation.y = 0.7071;
target_pose411.orientation.z = 0.0;
target_pose411.orientation.w = 0.7071;
group.setPoseTarget(target_pose411);
group.move();
geometry_msgs::Pose target_pose412;
target_pose412.position.x=0.23;
target_pose412.position.y=-0.039;
target_pose412.position.z=0.214;
target_pose412.orientation.x = 0.0;
target_pose412.orientation.y = 0.7071;
target_pose412.orientation.z = 0.0;
target_pose412.orientation.w = 0.7071;
group.setPoseTarget(target_pose412);
group.move();
geometry_msgs::Pose target_pose413;
target_pose413.position.x=0.23;
target_pose413.position.y=-0.04;
target_pose413.position.z=0.214;
target_pose413.orientation.x = 0.0;
target_pose413.orientation.y = 0.7071;
target_pose413.orientation.z = 0.0;
target_pose413.orientation.w = 0.7071;
group.setPoseTarget(target_pose413);
group.move();
geometry_msgs::Pose target_pose414;
target_pose414.position.x=0.23;
target_pose414.position.y=-0.041;
target_pose414.position.z=0.214;
target_pose414.orientation.x = 0.0;
target_pose414.orientation.y = 0.7071;
target_pose414.orientation.z = 0.0;
target_pose414.orientation.w = 0.7071;
group.setPoseTarget(target_pose414);
group.move();
geometry_msgs::Pose target_pose415;
target_pose415.position.x=0.23;
target_pose415.position.y=-0.042;
target_pose415.position.z=0.214;
target_pose415.orientation.x = 0.0;
target_pose415.orientation.y = 0.7071;
target_pose415.orientation.z = 0.0;
target_pose415.orientation.w = 0.7071;
group.setPoseTarget(target_pose415);
group.move();
geometry_msgs::Pose target_pose416;
target_pose416.position.x=0.23;
target_pose416.position.y=-0.043;
target_pose416.position.z=0.214;
target_pose416.orientation.x = 0.0;
target_pose416.orientation.y = 0.7071;
target_pose416.orientation.z = 0.0;
target_pose416.orientation.w = 0.7071;
group.setPoseTarget(target_pose416);
group.move();
geometry_msgs::Pose target_pose417;
target_pose417.position.x=0.23;
target_pose417.position.y=-0.044;
target_pose417.position.z=0.214;
target_pose417.orientation.x = 0.0;
target_pose417.orientation.y = 0.7071;
target_pose417.orientation.z = 0.0;
target_pose417.orientation.w = 0.7071;
group.setPoseTarget(target_pose417);
group.move();
geometry_msgs::Pose target_pose418;
target_pose418.position.x=0.23;
target_pose418.position.y=-0.045;
target_pose418.position.z=0.214;
target_pose418.orientation.x = 0.0;
target_pose418.orientation.y = 0.7071;
target_pose418.orientation.z = 0.0;
target_pose418.orientation.w = 0.7071;
group.setPoseTarget(target_pose418);
group.move();
geometry_msgs::Pose target_pose419;
target_pose419.position.x=0.23;
target_pose419.position.y=-0.046;
target_pose419.position.z=0.214;
target_pose419.orientation.x = 0.0;
target_pose419.orientation.y = 0.7071;
target_pose419.orientation.z = 0.0;
target_pose419.orientation.w = 0.7071;
group.setPoseTarget(target_pose419);
group.move();
geometry_msgs::Pose target_pose420;
target_pose420.position.x=0.23;
target_pose420.position.y=-0.047;
target_pose420.position.z=0.214;
target_pose420.orientation.x = 0.0;
target_pose420.orientation.y = 0.7071;
target_pose420.orientation.z = 0.0;
target_pose420.orientation.w = 0.7071;
group.setPoseTarget(target_pose420);
group.move();
geometry_msgs::Pose target_pose421;
target_pose421.position.x=0.23;
target_pose421.position.y=-0.048;
target_pose421.position.z=0.214;
target_pose421.orientation.x = 0.0;
target_pose421.orientation.y = 0.7071;
target_pose421.orientation.z = 0.0;
target_pose421.orientation.w = 0.7071;
group.setPoseTarget(target_pose421);
group.move();
geometry_msgs::Pose target_pose422;
target_pose422.position.x=0.23;
target_pose422.position.y=-0.049;
target_pose422.position.z=0.214;
target_pose422.orientation.x = 0.0;
target_pose422.orientation.y = 0.7071;
target_pose422.orientation.z = 0.0;
target_pose422.orientation.w = 0.7071;
group.setPoseTarget(target_pose422);
group.move();
geometry_msgs::Pose target_pose423;
target_pose423.position.x=0.23;
target_pose423.position.y=-0.05;
target_pose423.position.z=0.214;
target_pose423.orientation.x = 0.0;
target_pose423.orientation.y = 0.7071;
target_pose423.orientation.z = 0.0;
target_pose423.orientation.w = 0.7071;
group.setPoseTarget(target_pose423);
group.move();
geometry_msgs::Pose target_pose424;
target_pose424.position.x=0.23;
target_pose424.position.y=-0.051;
target_pose424.position.z=0.214;
target_pose424.orientation.x = 0.0;
target_pose424.orientation.y = 0.7071;
target_pose424.orientation.z = 0.0;
target_pose424.orientation.w = 0.7071;
group.setPoseTarget(target_pose424);
group.move();
geometry_msgs::Pose target_pose425;
target_pose425.position.x=0.23;
target_pose425.position.y=-0.052;
target_pose425.position.z=0.214;
target_pose425.orientation.x = 0.0;
target_pose425.orientation.y = 0.7071;
target_pose425.orientation.z = 0.0;
target_pose425.orientation.w = 0.7071;
group.setPoseTarget(target_pose425);
group.move();
geometry_msgs::Pose target_pose426;
target_pose426.position.x=0.231;
target_pose426.position.y=-0.053;
target_pose426.position.z=0.214;
target_pose426.orientation.x = 0.0;
target_pose426.orientation.y = 0.7071;
target_pose426.orientation.z = 0.0;
target_pose426.orientation.w = 0.7071;
group.setPoseTarget(target_pose426);
group.move();
geometry_msgs::Pose target_pose427;
target_pose427.position.x=0.231;
target_pose427.position.y=-0.054;
target_pose427.position.z=0.214;
target_pose427.orientation.x = 0.0;
target_pose427.orientation.y = 0.7071;
target_pose427.orientation.z = 0.0;
target_pose427.orientation.w = 0.7071;
group.setPoseTarget(target_pose427);
group.move();
geometry_msgs::Pose target_pose428;
target_pose428.position.x=0.231;
target_pose428.position.y=-0.055;
target_pose428.position.z=0.213;
target_pose428.orientation.x = 0.0;
target_pose428.orientation.y = 0.7071;
target_pose428.orientation.z = 0.0;
target_pose428.orientation.w = 0.7071;
group.setPoseTarget(target_pose428);
group.move();
geometry_msgs::Pose target_pose429;
target_pose429.position.x=0.231;
target_pose429.position.y=-0.056;
target_pose429.position.z=0.213;
target_pose429.orientation.x = 0.0;
target_pose429.orientation.y = 0.7071;
target_pose429.orientation.z = 0.0;
target_pose429.orientation.w = 0.7071;
group.setPoseTarget(target_pose429);
group.move();
geometry_msgs::Pose target_pose430;
target_pose430.position.x=0.231;
target_pose430.position.y=-0.057;
target_pose430.position.z=0.213;
target_pose430.orientation.x = 0.0;
target_pose430.orientation.y = 0.7071;
target_pose430.orientation.z = 0.0;
target_pose430.orientation.w = 0.7071;
group.setPoseTarget(target_pose430);
group.move();
geometry_msgs::Pose target_pose431;
target_pose431.position.x=0.231;
target_pose431.position.y=-0.058;
target_pose431.position.z=0.213;
target_pose431.orientation.x = 0.0;
target_pose431.orientation.y = 0.7071;
target_pose431.orientation.z = 0.0;
target_pose431.orientation.w = 0.7071;
group.setPoseTarget(target_pose431);
group.move();
geometry_msgs::Pose target_pose432;
target_pose432.position.x=0.232;
target_pose432.position.y=-0.059;
target_pose432.position.z=0.212;
target_pose432.orientation.x = 0.0;
target_pose432.orientation.y = 0.7071;
target_pose432.orientation.z = 0.0;
target_pose432.orientation.w = 0.7071;
group.setPoseTarget(target_pose432);
group.move();
geometry_msgs::Pose target_pose433;
target_pose433.position.x=0.233;
target_pose433.position.y=-0.06;
target_pose433.position.z=0.212;
target_pose433.orientation.x = 0.0;
target_pose433.orientation.y = 0.7071;
target_pose433.orientation.z = 0.0;
target_pose433.orientation.w = 0.7071;
group.setPoseTarget(target_pose433);
group.move();
geometry_msgs::Pose target_pose434;
target_pose434.position.x=0.234;
target_pose434.position.y=-0.061;
target_pose434.position.z=0.212;
target_pose434.orientation.x = 0.0;
target_pose434.orientation.y = 0.7071;
target_pose434.orientation.z = 0.0;
target_pose434.orientation.w = 0.7071;
group.setPoseTarget(target_pose434);
group.move();
geometry_msgs::Pose target_pose435;
target_pose435.position.x=0.235;
target_pose435.position.y=-0.062;
target_pose435.position.z=0.212;
target_pose435.orientation.x = 0.0;
target_pose435.orientation.y = 0.7071;
target_pose435.orientation.z = 0.0;
target_pose435.orientation.w = 0.7071;
group.setPoseTarget(target_pose435);
group.move();
geometry_msgs::Pose target_pose436;
target_pose436.position.x=0.236;
target_pose436.position.y=-0.063;
target_pose436.position.z=0.213;
target_pose436.orientation.x = 0.0;
target_pose436.orientation.y = 0.7071;
target_pose436.orientation.z = 0.0;
target_pose436.orientation.w = 0.7071;
group.setPoseTarget(target_pose436);
group.move();
geometry_msgs::Pose target_pose437;
target_pose437.position.x=0.237;
target_pose437.position.y=-0.063;
target_pose437.position.z=0.213;
target_pose437.orientation.x = 0.0;
target_pose437.orientation.y = 0.7071;
target_pose437.orientation.z = 0.0;
target_pose437.orientation.w = 0.7071;
group.setPoseTarget(target_pose437);
group.move();
geometry_msgs::Pose target_pose438;
target_pose438.position.x=0.238;
target_pose438.position.y=-0.063;
target_pose438.position.z=0.213;
target_pose438.orientation.x = 0.0;
target_pose438.orientation.y = 0.7071;
target_pose438.orientation.z = 0.0;
target_pose438.orientation.w = 0.7071;
group.setPoseTarget(target_pose438);
group.move();
geometry_msgs::Pose target_pose439;
target_pose439.position.x=0.239;
target_pose439.position.y=-0.063;
target_pose439.position.z=0.213;
target_pose439.orientation.x = 0.0;
target_pose439.orientation.y = 0.7071;
target_pose439.orientation.z = 0.0;
target_pose439.orientation.w = 0.7071;
group.setPoseTarget(target_pose439);
group.move();
geometry_msgs::Pose target_pose440;
target_pose440.position.x=0.24;
target_pose440.position.y=-0.063;
target_pose440.position.z=0.214;
target_pose440.orientation.x = 0.0;
target_pose440.orientation.y = 0.7071;
target_pose440.orientation.z = 0.0;
target_pose440.orientation.w = 0.7071;
group.setPoseTarget(target_pose440);
group.move();
geometry_msgs::Pose target_pose441;
target_pose441.position.x=0.241;
target_pose441.position.y=-0.063;
target_pose441.position.z=0.214;
target_pose441.orientation.x = 0.0;
target_pose441.orientation.y = 0.7071;
target_pose441.orientation.z = 0.0;
target_pose441.orientation.w = 0.7071;
group.setPoseTarget(target_pose441);
group.move();
geometry_msgs::Pose target_pose442;
target_pose442.position.x=0.242;
target_pose442.position.y=-0.063;
target_pose442.position.z=0.215;
target_pose442.orientation.x = 0.0;
target_pose442.orientation.y = 0.7071;
target_pose442.orientation.z = 0.0;
target_pose442.orientation.w = 0.7071;
group.setPoseTarget(target_pose442);
group.move();
geometry_msgs::Pose target_pose443;
target_pose443.position.x=0.243;
target_pose443.position.y=-0.063;
target_pose443.position.z=0.215;
target_pose443.orientation.x = 0.0;
target_pose443.orientation.y = 0.7071;
target_pose443.orientation.z = 0.0;
target_pose443.orientation.w = 0.7071;
group.setPoseTarget(target_pose443);
group.move();
geometry_msgs::Pose target_pose444;
target_pose444.position.x=0.244;
target_pose444.position.y=-0.063;
target_pose444.position.z=0.215;
target_pose444.orientation.x = 0.0;
target_pose444.orientation.y = 0.7071;
target_pose444.orientation.z = 0.0;
target_pose444.orientation.w = 0.7071;
group.setPoseTarget(target_pose444);
group.move();
geometry_msgs::Pose target_pose445;
target_pose445.position.x=0.245;
target_pose445.position.y=-0.063;
target_pose445.position.z=0.215;
target_pose445.orientation.x = 0.0;
target_pose445.orientation.y = 0.7071;
target_pose445.orientation.z = 0.0;
target_pose445.orientation.w = 0.7071;
group.setPoseTarget(target_pose445);
group.move();
geometry_msgs::Pose target_pose446;
target_pose446.position.x=0.246;
target_pose446.position.y=-0.063;
target_pose446.position.z=0.215;
target_pose446.orientation.x = 0.0;
target_pose446.orientation.y = 0.7071;
target_pose446.orientation.z = 0.0;
target_pose446.orientation.w = 0.7071;
group.setPoseTarget(target_pose446);
group.move();
geometry_msgs::Pose target_pose447;
target_pose447.position.x=0.247;
target_pose447.position.y=-0.063;
target_pose447.position.z=0.215;
target_pose447.orientation.x = 0.0;
target_pose447.orientation.y = 0.7071;
target_pose447.orientation.z = 0.0;
target_pose447.orientation.w = 0.7071;
group.setPoseTarget(target_pose447);
group.move();
geometry_msgs::Pose target_pose448;
target_pose448.position.x=0.248;
target_pose448.position.y=-0.063;
target_pose448.position.z=0.215;
target_pose448.orientation.x = 0.0;
target_pose448.orientation.y = 0.7071;
target_pose448.orientation.z = 0.0;
target_pose448.orientation.w = 0.7071;
group.setPoseTarget(target_pose448);
group.move();
geometry_msgs::Pose target_pose449;
target_pose449.position.x=0.249;
target_pose449.position.y=-0.062;
target_pose449.position.z=0.216;
target_pose449.orientation.x = 0.0;
target_pose449.orientation.y = 0.7071;
target_pose449.orientation.z = 0.0;
target_pose449.orientation.w = 0.7071;
group.setPoseTarget(target_pose449);
group.move();
geometry_msgs::Pose target_pose450;
target_pose450.position.x=0.25;
target_pose450.position.y=-0.062;
target_pose450.position.z=0.216;
target_pose450.orientation.x = 0.0;
target_pose450.orientation.y = 0.7071;
target_pose450.orientation.z = 0.0;
target_pose450.orientation.w = 0.7071;
group.setPoseTarget(target_pose450);
group.move();
geometry_msgs::Pose target_pose451;
target_pose451.position.x=0.251;
target_pose451.position.y=-0.062;
target_pose451.position.z=0.216;
target_pose451.orientation.x = 0.0;
target_pose451.orientation.y = 0.7071;
target_pose451.orientation.z = 0.0;
target_pose451.orientation.w = 0.7071;
group.setPoseTarget(target_pose451);
group.move();
geometry_msgs::Pose target_pose452;
target_pose452.position.x=0.252;
target_pose452.position.y=-0.062;
target_pose452.position.z=0.216;
target_pose452.orientation.x = 0.0;
target_pose452.orientation.y = 0.7071;
target_pose452.orientation.z = 0.0;
target_pose452.orientation.w = 0.7071;
group.setPoseTarget(target_pose452);
group.move();
geometry_msgs::Pose target_pose453;
target_pose453.position.x=0.253;
target_pose453.position.y=-0.061;
target_pose453.position.z=0.217;
target_pose453.orientation.x = 0.0;
target_pose453.orientation.y = 0.7071;
target_pose453.orientation.z = 0.0;
target_pose453.orientation.w = 0.7071;
group.setPoseTarget(target_pose453);
group.move();
geometry_msgs::Pose target_pose454;
target_pose454.position.x=0.254;
target_pose454.position.y=-0.061;
target_pose454.position.z=0.216;
target_pose454.orientation.x = 0.0;
target_pose454.orientation.y = 0.7071;
target_pose454.orientation.z = 0.0;
target_pose454.orientation.w = 0.7071;
group.setPoseTarget(target_pose454);
group.move();
geometry_msgs::Pose target_pose455;
target_pose455.position.x=0.255;
target_pose455.position.y=-0.061;
target_pose455.position.z=0.216;
target_pose455.orientation.x = 0.0;
target_pose455.orientation.y = 0.7071;
target_pose455.orientation.z = 0.0;
target_pose455.orientation.w = 0.7071;
group.setPoseTarget(target_pose455);
group.move();
geometry_msgs::Pose target_pose456;
target_pose456.position.x=0.256;
target_pose456.position.y=-0.061;
target_pose456.position.z=0.216;
target_pose456.orientation.x = 0.0;
target_pose456.orientation.y = 0.7071;
target_pose456.orientation.z = 0.0;
target_pose456.orientation.w = 0.7071;
group.setPoseTarget(target_pose456);
group.move();
geometry_msgs::Pose target_pose457;
target_pose457.position.x=0.257;
target_pose457.position.y=-0.06;
target_pose457.position.z=0.217;
target_pose457.orientation.x = 0.0;
target_pose457.orientation.y = 0.7071;
target_pose457.orientation.z = 0.0;
target_pose457.orientation.w = 0.7071;
group.setPoseTarget(target_pose457);
group.move();
}

There is not error during planning and execution, but sometimes the sixth axis of ABB120 will rotates 360 degrees during the move, and I don't want it to rotate, how can I solve it ?
Thank you.

Socket communication between ROS and ABB controller

Hi! I'm trying to connect ABB IRB 1410 to ROS but when I run my code on the abb controller, it immediately gives me this error(in the figure below). The IP address I'm using is 192.168.125.1, 1025 (if I don't specify the port number my controller crashes). Any help with this issue would be great, thanks!

Where is package controller_manager?

When I launch irb120_3_58_gazebo.launch in abb_irb120_gazebo package. There comes an error:

ERROR: cannot launch node of type [controller_manager/controller_manager]: controller_manager
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/maroon/abb_experimental_ws/src
ROS path [3]=/opt/ros/kinetic/share

And I can't find the package in ROS.

A bug in abb_irb1200_5_90_moveit_config/launch/moveit_planning_execution.launch

The code is:
run the "real robot" interface nodes

    include file="$(find abb_irb1200_support)/launch/robot_interface_streaming_irb1200_5_90.launch"

But the file robot_interface_streaming_irb1200_5_90.launch is not exists in abb_irb1200_support/launch.

We should replace it with the following：

   include file="$(find abb_irb1200_support)/launch/robot_interface_download_irb1200_5_90.launch"

QAQ Sorry,I don't know how to add a piece of code, so I use the form of text.

Incorrect (?) joint limits specified for IRB 6700 200/2.60 variant

From #123 (comment):

1. According to abb's 6700 product specification,
6700 200/2.60's max axis speed is [110, 110, 110, 190, 150, 210]degree/s. However, in irb6700_200_260_macro.xacro, velocity limits are [100, 90, 90, 170, 120, 190]. It is confusing for me.

irb4400l30: catkin_make install fails due to missing 'launch' directory

As per subject.

How can I connect ABB IRB120 on the RobotStudio

After setting parameters，i run the server program，virtual FlexPendant report errors。How can solve this problem？I follow the steps in the ros wiki。The website is http://wiki.ros.org/abb/Tutorials。My robot is ABB IRB120。

irb4400l30: Assimp reports no scene in package://abb_irb4400_support/..

[ WARN] [1381782870.383927736]: Assimp reports no scene in package://abb_irb4400_support/meshes/irb4400l30/collision/base_link.stl
[ WARN] [1381782870.409483756]: Assimp reports no scene in package://abb_irb4400_support/meshes/irb4400l30/collision/link_1.stl
[ WARN] [1381782870.434716833]: Assimp reports no scene in package://abb_irb4400_support/meshes/irb4400l30/collision/link_2.stl
[ WARN] [1381782870.459931207]: Assimp reports no scene in package://abb_irb4400_support/meshes/irb4400l30/collision/link_3.stl
[ WARN] [1381782870.484999673]: Assimp reports no scene in package://abb_irb4400_support/meshes/irb4400l30/collision/link_4.stl
[ WARN] [1381782870.509794579]: Assimp reports no scene in package://abb_irb4400_support/meshes/irb4400l30/collision/link_5.stl
[ WARN] [1381782870.534701447]: Assimp reports no scene in package://abb_irb4400_support/meshes/irb4400l30/collision/link_6.stl
[ WARN] [1381782870.534911456]: No geometry is associated to any robot links

This is probably because the binary STLs start with the word 'solid', leading to problems in the STL loaders (known problem with ASCII vs binary STLs).

error : controller is taking too long to execute trajectory

How can i solve it ?

some questions for creating irb6700 155/2.85 support package

Hi, recently I am trying to create a irb6700 155/2.85 support package based on abb_irb6700_support. I have some questions, could you give me some help?

According to abb's 6700 product specification,
6700 200/2.60's max axis speed is [110, 110, 110, 190, 150, 210]degree/s. However, in irb6700_200_260_macro.xacro, velocity limits are [100, 90, 90, 170, 120, 190]. It is confusing for me.
I noticed that in irb6700_200_260_macro.xacro, there are cylinder_joint and pistion_joint definition. And according to this, limit value seems not important. I haven't found any infomation about piston and cylinder in any document until now. So could you tell me how you get these limit information please? Is it right that I keep your values unchanged for 6700 155/2.84?
Although in RViz, everything looks OK, I still want to know how you verify robot's urdf. Could you give some instructions?

Thank you very much!

update abb_driver to ROS 2.0

Add the abb_driver package and migrate it to ROS 2.0.

Inertial values for IRB 1200 models?

Looks like the 120 has inertial values defined in the URDF here: https://github.com/ros-industrial/abb_experimental/blob/e7e6c119c23ab257cb545450b927ed6df3920dcc/abb_irb120_support/urdf/irb120_3_58_macro.xacro

Does anyone know how those values were determined? @bhomberg and I are trying to determine those values for the IRB1200 5_90 and 7_70 models. We've contacted ABB and they aren't willing to share those values - did someone measure them?

/cc @stwirth

IK Fast on ABB CRB 15000?

Has anyone tried running IK Fast on the CRB 15000 model? I tried it and the solution was 90% correct, and 10% wrong. Including incorrect and incomplete IK solutions.

Adding a custom End - Effector to the ABB IRB120 Robot.

I have used this package to be able to use the ABB IRB120 robot on Gazebo, where I managed to install the necessary files needed and control the robot. My next step would be to add an end-effector to the ready-made robot. However, I am not sure how this can be done with the use of RVIZ, or MoveIt!, or any other program. Can somebody give me an indication of what needs to be done? Note that the end effector needs to be hot-wire cutter, meaning that this would be bracket, with a wire across the bracket itself.

Thanks,
Jacob

Does this repo further fragment abb support?

Wouldn't this code be better kept in the main https://github.com/ros-industrial/abb/ repo as the latest branch, and keep older branches for backwards compatibility? Otherwise you really confuse developers which to use / contribute to / focus on. This is messy. When does "experimental" no longer become experimental?

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	<run_depend>abb_driver</run_depend>
	<run_depend>joint_state_publisher</run_depend>
	<run_depend>robot_state_publisher</run_depend>
	<run_depend>rviz</run_depend>
	<run_depend>xacro</run_depend>