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This commit is contained in:
Max Hunt 2020-02-13 11:50:57 +00:00
parent c6b70b9186
commit adab7f93f8
2 changed files with 3 additions and 3 deletions
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4
main.py
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@ -272,12 +272,12 @@ if __name__ == "__main__":
# print()
left_pick = otc.tf_lookup('a3')
left_pick.position.z+=0.5
# left_pick.position.z+=0.05
left_pnp.pick(left_pick)
left_place = otc.tf_lookup('f2')
left_pick.position.z+=0.5
# left_pick.position.z+=0.05
left_pnp.place(left_place)

2
object_tf_client.py
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@ -18,7 +18,7 @@ def tf_lookup(object_name):
time.sleep(0.1)
continue
object_angles = tf.transformations.euler_from_quaternion([rot[3] , rot[0], rot[1], rot[2]], axes='sxyz')
object_angles = tf.transformations.euler_from_quaternion([rot[0] , rot[1], rot[2], rot[3]])
xangle = object_angles[0] + radians(90)# + radians(200.569)
xangle1 = object_angles[1]# + radians(90)
xangle2 = object_angles[2]# + radians(-200.569)