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This commit is contained in:
Max Hunt 2020-02-12 23:42:14 +00:00
parent 3372b9819e
commit 8fa38a611d
1 changed files with 3 additions and 3 deletions
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6
main.py
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@ -266,8 +266,8 @@ if __name__ == "__main__":
left_pick = otc.tf_lookup('a1') 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]) 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] xangle = left_pick_angles[0] + radians(190)
xangle1 = left_pick_angles[1] xangle1 = left_pick_angles[1] + radians(-90)
xangle2 = left_pick_angles[2] xangle2 = left_pick_angles[2]
left_pick_angles = (xangle, left_pick_angles[1], left_pick_angles[2]) 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]) target_quat = quaternion_from_euler(left_pick_angles[0], left_pick_angles[1], left_pick_angles[2])
@ -288,7 +288,7 @@ if __name__ == "__main__":
left_place_angles = euler_from_quaternion([left_place.orientation.x , left_place.orientation.y , left_place.orientation.z, left_place.orientation.w]) left_place_angles = euler_from_quaternion([left_place.orientation.x , left_place.orientation.y , left_place.orientation.z, left_place.orientation.w])
xangle = left_place_angles[0] xangle = left_place_angles[0]
xangle1 = left_place_angles[1] xangle1 = left_place_angles[1]
xangle2 = left_place_angles[2] xangle2 = left_place_angles[2] + radians(90)
left_place_angles = (xangle, left_place_angles[1], left_place_angles[2]) left_place_angles = (xangle, left_place_angles[1], left_place_angles[2])
target_quat = quaternion_from_euler(left_place_angles[0], left_place_angles[1], left_pick_angles[2]) target_quat = quaternion_from_euler(left_place_angles[0], left_place_angles[1], left_pick_angles[2])
left_place_pos = Pose() left_place_pos = Pose()