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Max Hunt 2020-02-11 00:11:22 +00:00
parent 47561fb334
commit 099e788fd6
1 changed files with 4 additions and 4 deletions
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8
main.py
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@ -255,15 +255,15 @@ if __name__ == "__main__":
left_pick = otc.tf_lookup('a3') left_pick = otc.tf_lookup('a3')
left_pnp.pick(left_pick) left_pnp.pick(left_pick)
left_place_pre = otc.tf_lookup('t1') left_place_pre = otc.tf_lookup('a1')
xpos = brick_targets[0] xpos = brick_targets[0]
zqtr = quaternion_from_euler(xpos['roll'], xpos['pitch'], xpos['yaw']) zqtr = quaternion_from_euler(xpos['roll'], xpos['pitch'], xpos['yaw'])
left_place_pos = Pose() left_place_pos = Pose()
left_place_pos.position.x = left_place_pre.position.x + xpos['x'] left_place_pos.position.x = left_place_pre.position.x + 0.1 #xpos['x']
left_place_pos.position.y = left_place_pre.position.y + xpos['y'] left_place_pos.position.y = left_place_pre.position.y + 0.1 #xpos['y']
left_place_pos.position.z = left_place_pre.position.z + xpos['z'] left_place_pos.position.z = left_place_pre.position.z + 0.1 #xpos['z']
left_place_pos.orientation.x = left_place_pre.orientation.x #+ zqtr[0] left_place_pos.orientation.x = left_place_pre.orientation.x #+ zqtr[0]
left_place_pos.orientation.y = left_place_pre.orientation.y #+ zqtr[1] left_place_pos.orientation.y = left_place_pre.orientation.y #+ zqtr[1]
left_place_pos.orientation.z = left_place_pre.orientation.z #+ zqtr[2] left_place_pos.orientation.z = left_place_pre.orientation.z #+ zqtr[2]