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tutorials:demo:fetch_and_place_solutions [2019/09/04 19:17] – [Exercise 2] cleaned up gkazhoyatutorials:demo:fetch_and_place_solutions [2019/09/04 19:26] – [Exercise 2] invert the robot transform gkazhoya
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          (obj-pose (get-current-pose-of-object obj-name))          (obj-pose (get-current-pose-of-object obj-name))
          (robot-transformation (get-robot-transformation))          (robot-transformation (get-robot-transformation))
 +         (inverse-robot-transform (inverse-transformation robot-transformation))
          ;; Position of the object relative to the robot          ;; Position of the object relative to the robot
-         (obj-in-robot-frame (apply-transformation robot-transformation obj-pose))+         (obj-in-robot-frame (apply-transformation inverse-robot-transform obj-pose))
          (x (get-x-of-pose obj-in-robot-frame))          (x (get-x-of-pose obj-in-robot-frame))
          (y (get-y-of-pose obj-in-robot-frame)))          (y (get-y-of-pose obj-in-robot-frame)))