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# System prepended metadata

title: Retrieving a Magazine (old code)

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# 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.
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