I’m curious at the correct process on getting the position to place the part on either tray for qual1.
From my understanding you can use tf to get the current pose from the world frame
(trans, rot) = self.tf_listener.lookupTransform('world', frame, rospy.Time(0))
Now I assumed I could simply offset the trans using the supplied values in the order, i.e
xyz: [0.1, -0.2, 0]
However for the position offset:
xyz: [0.15, 0.15, 0]
The arm can not find a goal state using moveit, it seems to be out of reach, is this designed that way. I’ve just gone about shortening the position in the end to be within in reach.
To be honest I had a look at the parts tutorial and the figures seem to point to different placements then where I achieve at the moment anyway.