From a958cb374db766dc26c65d7c54be0f5463043e6c Mon Sep 17 00:00:00 2001 From: Max Hunt Date: Wed, 12 Feb 2020 23:45:10 +0000 Subject: [PATCH] Update --- main.py | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/main.py b/main.py index 61a8e26..8fdfdbb 100755 --- a/main.py +++ b/main.py @@ -266,9 +266,9 @@ if __name__ == "__main__": 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]) - xangle = left_pick_angles[0] + radians(180) - xangle1 = left_pick_angles[1] + radians(-90) - xangle2 = left_pick_angles[2] + xangle = left_pick_angles[0] + xangle1 = left_pick_angles[1] + xangle2 = left_pick_angles[2] + radians(-90) 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]) left_pick_proc = Pose() @@ -286,9 +286,9 @@ if __name__ == "__main__": left_place = otc.tf_lookup('f2') 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] + radians(180) - xangle1 = left_place_angles[1] + radians(-90) - xangle2 = left_place_angles[2] + radians(0) + xangle = left_place_angles[0] + xangle1 = left_place_angles[1] + xangle2 = left_place_angles[2] + radians(90) 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]) left_place_pos = Pose()