From 5ee14260d1556b17ac879f353590775e3b5e1fc4 Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Thu, 13 Feb 2020 10:42:56 +0000 Subject: [PATCH] Update --- object_tf_client.py | 15 ++++++++------- 1 file changed, 8 insertions(+), 7 deletions(-) diff --git a/object_tf_client.py b/object_tf_client.py index 19a9a82..44374e3 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[0] , rot[1] , rot[2], rot[3]]) - xangle = object_angles[0]# + radians(90) - xangle1 = object_angles[1]# + radians(-90) - xangle2 = object_angles[2]# + radians(-180) + xangle = object_angles[0] + radians(77.878) + xangle1 = object_angles[1] - radians(90) + xangle2 = object_angles[2] - radians(22.231) object_angles = (xangle, xangle1, xangle2) print("Angles:") print(xangle) @@ -47,7 +47,7 @@ if __name__ == "__main__": # # TARGET TOP PICKING EULER ANGLES -# MODIFIERS: +# LAYING MODIFIERS: # Pitch(0): +90 deg. # Roll(1): 0 deg. # Yaw(2): 0 deg. @@ -57,9 +57,10 @@ if __name__ == "__main__": # Roll(1): 0 deg. # Yaw(2): -180 deg. # -# -# -# +# INITIAL STANDING VALUES +# 0.211 12.112 + 77.878 +# 1.57 90.000 - 90.000 +# -2.75 -157.769 - 22.231 # # #