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This commit is contained in:
Max Hunt 2020-02-12 23:59:29 +00:00
parent 0f1fdece00
commit 8907a9ba94
1 changed files with 3 additions and 3 deletions
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6
main.py
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@ -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')