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This commit is contained in:
Max Hunt 2020-02-13 12:52:49 +00:00
parent 1b8f2b6580
commit 717417aa5c
2 changed files with 3 additions and 3 deletions
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4
main.py
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@ -272,12 +272,12 @@ if __name__ == "__main__":
# print() # print()
left_pick = otc.tf_lookup('a1') left_pick = otc.tf_lookup('a1')
left_pick.position.z+=0.05 # left_pick.position.z+=0.05
left_pnp.pick(left_pick) left_pnp.pick(left_pick)
left_place = otc.tf_lookup('f2') left_place = otc.tf_lookup('f2')
left_place.position.z+=0.05 # left_place.position.z+=0.05
left_pnp.place(left_place) left_pnp.place(left_place)

2
object_tf_client.py
View File

@ -19,7 +19,7 @@ def tf_lookup(object_name):
continue continue
object_angles = tf.transformations.euler_from_quaternion([rot[3] , rot[0], rot[1], rot[2]], axes='sxyz') object_angles = tf.transformations.euler_from_quaternion([rot[3] , rot[0], rot[1], rot[2]], axes='sxyz')
xangle = object_angles[0] + radians(196) xangle = object_angles[0] + radians(286)
xangle1 = object_angles[1] + radians(90) xangle1 = object_angles[1] + radians(90)
xangle2 = object_angles[2] + radians(-106) xangle2 = object_angles[2] + radians(-106)
object_angles = (xangle, xangle1, xangle2) object_angles = (xangle, xangle1, xangle2)