# Retrieving a Magazine (old code) #
- Get grid position->curPos
- ComputeGripperRotationVector:
- output: robot_rotation_vector
- and: base_R_gripper
- Process:
-
- Get robot_rotation_vector and assign to curPos[3-5]
- The transformation matrix gripper_T_mat get base_R_gripper for rotation matrix and X, Y, Z of curPos for translation matrix.
- Retrieving don't need detect stopper position due to will get wrong position.
- Calculation center pose for grasping with stopper???
- if cam_reversed = true:
- shift.x -= center_x_offset
- center_x_offset = center_x_offset * mm_per_px
- mm_per_px = 0.1217 //dist 150mm
- Re-computation Gripper pose bases on gripper offset values. (ShiftGripperPose in new code)
- gripper_moved = base_T_gripper_target * gripper_shift (offset)
- curPos translations get translation of gripper_moved matrix.
-