From 8907a9ba94f2f26bc2c559e976fe7e4c48e08d7e Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Wed, 12 Feb 2020 23:59:29 +0000 Subject: [PATCH] Update --- main.py | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/main.py b/main.py index 802694d..3ba038b 100755 --- a/main.py +++ b/main.py @@ -266,9 +266,9 @@ if __name__ == "__main__": left_pick = otc.tf_lookup('a1') left_pick_angles = euler_from_quaternion([left_pick.orientation.x , left_pick.orientation.y , left_pick.orientation.z, left_pick.orientation.w]) - xangle = left_pick_angles[0]# + radians(-90) + xangle = left_pick_angles[0] + radians(-90) xangle1 = left_pick_angles[1] + radians(-90) - xangle2 = left_pick_angles[2]# + radians(-180) + xangle2 = left_pick_angles[2] + radians(-180) left_pick_angles = (xangle, left_pick_angles[1], left_pick_angles[2]) target_quat = quaternion_from_euler(left_pick_angles[0], left_pick_angles[1], left_pick_angles[2]) left_pick_proc = Pose() @@ -280,7 +280,7 @@ if __name__ == "__main__": left_pick_proc.orientation.z = target_quat[2] left_pick_proc.orientation.w = target_quat[3] - left_pnp.pick(left_pick) + left_pnp.pick(left_pick_proc) left_place = otc.tf_lookup('f2')