From 9bc21dea23fbf5175fdfbd99e63d3fcc7751a989 Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Thu, 13 Feb 2020 00:18:27 +0000 Subject: [PATCH] Update --- main.py | 2 +- object_tf_client.py | 6 +++--- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/main.py b/main.py index f945abc..6319ac7 100755 --- a/main.py +++ b/main.py @@ -264,7 +264,7 @@ if __name__ == "__main__": 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 7a961a0..164c9f0 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 = 0#object_angles[0] + radians(90) - xangle1 = 0# object_angles[1] + radians(0) - xangle2 = 0# object_angles[2] + radians(90) #180 + xangle = object_angles[0] + radians(90) + xangle1 = object_angles[1] + radians(0) + xangle2 = object_angles[2] + radians(180) object_angles = (xangle, xangle1, xangle2) target_quat = tf.transformations.quaternion_from_euler(object_angles[0], object_angles[1], object_angles[2]) target_pose = Pose()