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This commit is contained in:
Max Hunt 2020-02-13 10:44:36 +00:00
parent 5ee14260d1
commit b3f65a0def
3 changed files with 5 additions and 5 deletions
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2
bricks_etc.py
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@ -300,7 +300,7 @@ bricks_start_v2 =[{
}] }]
def getBuildable(): def getBuildable():
return bricks_start_v2 return bricks_start_v1
def getAll(): def getAll():
return bricks_start_v2+bricks_start_v1+bricks_end+[table] return bricks_start_v2+bricks_start_v1+bricks_end+[table]

2
main.py
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@ -263,7 +263,7 @@ if __name__ == "__main__":
left_pick = otc.tf_lookup('a1') left_pick = otc.tf_lookup('a3')
# left_pick.position.z+=0.5 # left_pick.position.z+=0.5
left_pnp.pick(left_pick) left_pnp.pick(left_pick)

6
object_tf_client.py
View File

@ -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 = object_angles[0] + radians(77.878) xangle = object_angles[0]+radians(90)# + radians(77.878)
xangle1 = object_angles[1] - radians(90) xangle1 = object_angles[1]# - radians(90)
xangle2 = object_angles[2] - radians(22.231) xangle2 = object_angles[2]# - radians(22.231)
object_angles = (xangle, xangle1, xangle2) object_angles = (xangle, xangle1, xangle2)
print("Angles:") print("Angles:")
print(xangle) print(xangle)