From 8c3393c8240257ff63cad973a80ef06e2ea5fa58 Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Thu, 13 Feb 2020 10:18:34 +0000 Subject: [PATCH] Update --- bricks_etc.py | 2 +- main.py | 2 +- object_tf_client.py | 24 ++++++++++++++++++++++-- 3 files changed, 24 insertions(+), 4 deletions(-) diff --git a/bricks_etc.py b/bricks_etc.py index 44c1ef8..5736697 100644 --- a/bricks_etc.py +++ b/bricks_etc.py @@ -313,7 +313,7 @@ def getTargets(): def getNodes(): nodes = ['baxter::base', 't1::Table'] - for obj in bricks_start_v1 + bricks_end: + for obj in bricks_start_v2 + bricks_end: name = obj['id'] node_name = name+'::Brick' nodes.append(node_name) diff --git a/main.py b/main.py index a42a1f2..47ab172 100755 --- a/main.py +++ b/main.py @@ -263,7 +263,7 @@ if __name__ == "__main__": - left_pick = otc.tf_lookup('a3') + left_pick = otc.tf_lookup('a1') # left_pick.position.z+=0.5 left_pnp.pick(left_pick) diff --git a/object_tf_client.py b/object_tf_client.py index 53b41ca..19a9a82 100755 --- a/object_tf_client.py +++ b/object_tf_client.py @@ -19,7 +19,7 @@ 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) object_angles = (xangle, xangle1, xangle2) @@ -42,4 +42,24 @@ def tf_lookup(object_name): if __name__ == "__main__": rospy.init_node('example_tf_listener') - print(tf_lookup('c1')) \ No newline at end of file + print(tf_lookup('c1')) + + +# +# TARGET TOP PICKING EULER ANGLES +# MODIFIERS: +# Pitch(0): +90 deg. +# Roll(1): 0 deg. +# Yaw(2): 0 deg. +# +# FINAL VALUES: +# Pitch(0): +180 deg. +# Roll(1): 0 deg. +# Yaw(2): -180 deg. +# +# +# +# +# +# +#