Update

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)

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)
 

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'))
+	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.
+#      
+#      
+#      
+#      
+#      
+#      
+#