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This commit is contained in:
Max Hunt 2020-02-13 00:18:27 +00:00
parent d2ca778eec
commit 9bc21dea23
2 changed files with 4 additions and 4 deletions
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2
main.py
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@ -264,7 +264,7 @@ if __name__ == "__main__":
left_pick = otc.tf_lookup('a1') left_pick = otc.tf_lookup('a1')
left_pick.position.z+=0.5
left_pnp.pick(left_pick) left_pnp.pick(left_pick)

6
object_tf_client.py
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@ -19,9 +19,9 @@ def tf_lookup(object_name):
continue continue
object_angles = tf.transformations.euler_from_quaternion([rot[0] , rot[1] , rot[2], rot[3]]) object_angles = tf.transformations.euler_from_quaternion([rot[0] , rot[1] , rot[2], rot[3]])
xangle = 0#object_angles[0] + radians(90) xangle = object_angles[0] + radians(90)
xangle1 = 0# object_angles[1] + radians(0) xangle1 = object_angles[1] + radians(0)
xangle2 = 0# object_angles[2] + radians(90) #180 xangle2 = object_angles[2] + radians(180)
object_angles = (xangle, xangle1, xangle2) object_angles = (xangle, xangle1, xangle2)
target_quat = tf.transformations.quaternion_from_euler(object_angles[0], object_angles[1], object_angles[2]) target_quat = tf.transformations.quaternion_from_euler(object_angles[0], object_angles[1], object_angles[2])
target_pose = Pose() target_pose = Pose()