From 609b5aada2684556c203398b2953ba2fd7896ca6 Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Thu, 13 Feb 2020 10:04:55 +0000 Subject: [PATCH] Update --- main.py | 4 ++-- object_tf_client.py | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/main.py b/main.py index 293c308..e490c70 100755 --- a/main.py +++ b/main.py @@ -269,12 +269,12 @@ if __name__ == "__main__": print(left_pick) print() print() - left_pick.position.z+=0.5 + # left_pick.position.z+=0.5 left_pnp.pick(left_pick) left_place = otc.tf_lookup('f2') - left_pick.position.z+=0.5 + # left_pick.position.z+=0.5 left_pnp.place(left_place) diff --git a/object_tf_client.py b/object_tf_client.py index 600b108..d051896 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) + xangle = object_angles[0]# + radians(-90) xangle1 = object_angles[1]# + radians(-90) - xangle2 = object_angles[2] + radians(-180) + xangle2 = object_angles[2]# + radians(-180) object_angles = (xangle, xangle1, xangle2) target_quat = tf.transformations.quaternion_from_euler(xangle, xangle1, xangle2) target_pose = Pose()