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Max Hunt 2020-02-11 12:50:33 +00:00
parent d9f0ae5cba
commit 3c8e03e8f7
1 changed files with 11 additions and 11 deletions
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22
main.py
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@ -266,19 +266,19 @@ if __name__ == "__main__":
left_pick = otc.tf_lookup('a3')
left_pnp.pick(left_pick)
left_place_pre = otc.tf_lookup('t1')
left_place_pos = otc.tf_lookup('ea2')
xpos = built_bricks[0]
zqtr = quaternion_from_euler(xpos['roll'], xpos['pitch'], xpos['yaw'])
# xpos = built_bricks[0]
# zqtr = quaternion_from_euler(xpos['roll'], xpos['pitch'], xpos['yaw'])
left_place_pos = Pose()
left_place_pos.position.x = left_place_pre.position.x + xpos['x']
left_place_pos.position.y = left_place_pre.position.y + xpos['y']
left_place_pos.position.z = left_place_pre.position.z + xpos['z']
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.z = left_place_pre.orientation.z + zqtr[2]
left_place_pos.orientation.w = left_place_pre.orientation.w + zqtr[3]
# left_place_pos = Pose()
# left_place_pos.position.x = left_place_pre.position.x + xpos['x']
# left_place_pos.position.y = left_place_pre.position.y + xpos['y']
# left_place_pos.position.z = left_place_pre.position.z + xpos['z']
# 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.z = left_place_pre.orientation.z + zqtr[2]
# left_place_pos.orientation.w = left_place_pre.orientation.w + zqtr[3]
left_pnp.place(left_place_pos)