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This commit is contained in:
Max Hunt 2020-02-13 10:10:42 +00:00
parent 3e70f04c32
commit e8edd41d94
2 changed files with 5 additions and 5 deletions
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5
main.py
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@ -264,11 +264,6 @@ if __name__ == "__main__":
left_pick = otc.tf_lookup('a3') left_pick = otc.tf_lookup('a3')
print()
print()
print(left_pick)
print()
print()
# left_pick.position.z+=0.5 # left_pick.position.z+=0.5
left_pnp.pick(left_pick) left_pnp.pick(left_pick)

5
object_tf_client.py
View File

@ -23,6 +23,11 @@ def tf_lookup(object_name):
xangle1 = object_angles[1]# + radians(-90) xangle1 = object_angles[1]# + radians(-90)
xangle2 = object_angles[2]# + radians(-180) xangle2 = object_angles[2]# + radians(-180)
object_angles = (xangle, xangle1, xangle2) object_angles = (xangle, xangle1, xangle2)
print("Angles:")
print(xangle)
print(xangle1)
print(xangle2)
print()
target_quat = tf.transformations.quaternion_from_euler(xangle, xangle1, xangle2) target_quat = tf.transformations.quaternion_from_euler(xangle, xangle1, xangle2)
target_pose = Pose() target_pose = Pose()
target_pose.position.x = trans[0] target_pose.position.x = trans[0]