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This commit is contained in:
Max Hunt 2020-02-13 09:51:12 +00:00
parent 830084d057
commit 968ddb5832
3 changed files with 10 additions and 5 deletions
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2
bricks_etc.py
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@ -300,7 +300,7 @@ bricks_start_v2 =[{
}]
def getBuildable():
return bricks_start_v2
return bricks_start_v1
def getAll():
return bricks_start_v2+bricks_start_v1+bricks_end+[table]

7
main.py
View File

@ -263,7 +263,12 @@ if __name__ == "__main__":
left_pick = otc.tf_lookup('a1')
left_pick = otc.tf_lookup('a3')
print()
print()
print(left_pick)
print()
print()
left_pick.position.z+=0.5
left_pnp.pick(left_pick)

6
object_tf_client.py
View File

@ -19,9 +19,9 @@ 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(180)
xangle1 = object_angles[1] + radians(-90)
xangle2 = object_angles[2] + radians(0)
xangle = object_angles[0] + radians(90)
xangle1 = object_angles[1]# + radians(-90)
xangle2 = object_angles[2]# + radians(0)
object_angles = (xangle, xangle1, xangle2)
target_quat = tf.transformations.quaternion_from_euler(object_angles[0], object_angles[1], object_angles[2])
target_pose = Pose()