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This commit is contained in:
Max Hunt 2020-02-12 23:37:16 +00:00
parent 0c80ca4549
commit 3372b9819e
1 changed files with 7 additions and 4 deletions
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11
main.py
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@ -266,7 +266,9 @@ if __name__ == "__main__":
left_pick = otc.tf_lookup('a1')
left_pick_angles = euler_from_quaternion([left_pick.orientation.x , left_pick.orientation.y , left_pick.orientation.z, left_pick.orientation.w])
xangle = left_pick_angles[0] + radians(-90)
xangle = left_pick_angles[0]
xangle1 = left_pick_angles[1]
xangle2 = left_pick_angles[2]
left_pick_angles = (xangle, left_pick_angles[1], left_pick_angles[2])
target_quat = quaternion_from_euler(left_pick_angles[0], left_pick_angles[1], left_pick_angles[2])
left_pick_proc = Pose()
@ -284,12 +286,13 @@ if __name__ == "__main__":
left_place = otc.tf_lookup('f2')
left_place_angles = euler_from_quaternion([left_place.orientation.x , left_place.orientation.y , left_place.orientation.z, left_place.orientation.w])
xangle = left_place_angles[0] + radians(-90)
# xangle2 = left_place_angles[2] + radians(90)
xangle = left_place_angles[0]
xangle1 = left_place_angles[1]
xangle2 = left_place_angles[2]
left_place_angles = (xangle, left_place_angles[1], left_place_angles[2])
target_quat = quaternion_from_euler(left_place_angles[0], left_place_angles[1], left_pick_angles[2])
left_place_pos = Pose()
left_place_pos.position.x = left_place.position.x - 0.05
left_place_pos.position.x = left_place.position.x
left_place_pos.position.y = left_place.position.y
left_place_pos.position.z = left_place.position.z
left_place_pos.orientation.x = target_quat[0]