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This commit is contained in:
Max Hunt 2020-02-13 10:42:56 +00:00
parent 3b8f27c1f0
commit 5ee14260d1
1 changed files with 8 additions and 7 deletions
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15
object_tf_client.py
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@ -19,9 +19,9 @@ def tf_lookup(object_name):
continue continue
object_angles = tf.transformations.euler_from_quaternion([rot[0] , rot[1] , rot[2], rot[3]]) object_angles = tf.transformations.euler_from_quaternion([rot[0] , rot[1] , rot[2], rot[3]])
xangle = object_angles[0]# + radians(90) xangle = object_angles[0] + radians(77.878)
xangle1 = object_angles[1]# + radians(-90) xangle1 = object_angles[1] - radians(90)
xangle2 = object_angles[2]# + radians(-180) xangle2 = object_angles[2] - radians(22.231)
object_angles = (xangle, xangle1, xangle2) object_angles = (xangle, xangle1, xangle2)
print("Angles:") print("Angles:")
print(xangle) print(xangle)
@ -47,7 +47,7 @@ if __name__ == "__main__":
# #
# TARGET TOP PICKING EULER ANGLES # TARGET TOP PICKING EULER ANGLES
# MODIFIERS: # LAYING MODIFIERS:
# Pitch(0): +90 deg. # Pitch(0): +90 deg.
# Roll(1): 0 deg. # Roll(1): 0 deg.
# Yaw(2): 0 deg. # Yaw(2): 0 deg.
@ -57,9 +57,10 @@ if __name__ == "__main__":
# Roll(1): 0 deg. # Roll(1): 0 deg.
# Yaw(2): -180 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
# #
# #
# #