From 5ac15a13afe2bdc4cf770dc96e4a228456e9ebcf Mon Sep 17 00:00:00 2001
From: Max Hunt <mh2817@ic.ac.uk>
Date: Thu, 13 Feb 2020 11:59:00 +0000
Subject: [PATCH] Update

---
 object_tf_client.py | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/object_tf_client.py b/object_tf_client.py
index 483ee47..13f3964 100755
--- a/object_tf_client.py
+++ b/object_tf_client.py
@@ -19,9 +19,9 @@ def tf_lookup(object_name):
 			continue
 
 		object_angles = tf.transformations.euler_from_quaternion([rot[3] , rot[0], rot[1], rot[2]], axes='sxyz')
-		xangle = object_angles[0]# + radians(200.569)
+		xangle = object_angles[0] + radians(180)
 		xangle1 = object_angles[1]# + radians(90)
-		xangle2 = object_angles[2]# + radians(-200.569)
+		xangle2 = object_angles[2] + radians(-270)
 		object_angles = (xangle, xangle1, xangle2)
 		print("Angles:")
 		print(xangle)
@@ -48,9 +48,9 @@ if __name__ == "__main__":
 #      
 #      TARGET TOP PICKING EULER ANGLES
 #      LAYING MODIFIERS:
-#      Pitch(0):   ? deg.
-#      Roll(1):    ? deg.
-#      Yaw(2):     ? deg.
+#      Pitch(0): +180 deg.
+#      Roll(1):     ? deg.
+#      Yaw(2):   -270 deg.
 #      
 #      FINAL VALUES:
 #      Pitch(0): +180 deg.