From 968ddb5832685db984a342ccc8c8ab2000432107 Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Thu, 13 Feb 2020 09:51:12 +0000 Subject: [PATCH] Update --- bricks_etc.py | 2 +- main.py | 7 ++++++- object_tf_client.py | 6 +++--- 3 files changed, 10 insertions(+), 5 deletions(-) diff --git a/bricks_etc.py b/bricks_etc.py index 3669ac4..5736697 100644 --- a/bricks_etc.py +++ b/bricks_etc.py @@ -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] diff --git a/main.py b/main.py index 733a84e..293c308 100755 --- a/main.py +++ b/main.py @@ -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) diff --git a/object_tf_client.py b/object_tf_client.py index 51a1cdc..d87b5ce 100755 --- a/object_tf_client.py +++ b/object_tf_client.py @@ -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()