seemingly works?

bdaiinstitute · Aug 17, 2023 · 1fc4364 · 1fc4364
1 parent bc920af
commit 1fc4364
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Showing 2 changed files with 10 additions and 5 deletions.
diff --git a/predicators/spot_utils/spot_utils.py b/predicators/spot_utils/spot_utils.py
@@ -757,11 +757,14 @@ def placeOntopController(self, objs: Sequence[Object],
                            relative_to_default_pose=False,
                            angle=angle)
         # Look down to see if the object landed where we hoped.
-        self.hand_movement(params,
-                           keep_hand_pose=False,
-                           relative_to_default_pose=False,
-                           open_gripper=False,
-                           angle=(np.cos(np.pi / 4), 0, np.sin(np.pi / 4), 0))
+        if objs[2].type.name == "bag":
+            self.hand_movement(params,
+                            keep_hand_pose=False,
+                            relative_to_default_pose=False,
+                            open_gripper=False,
+                            angle=(np.cos(np.pi / 4), 0, np.sin(np.pi / 4), 0))
+        else:
+            self.stow_arm()
         # Longer sleep necessary to prevent blurry images.
         time.sleep(2.0)
 

diff --git a/predicators/utils.py b/predicators/utils.py
@@ -60,6 +60,8 @@
 from predicators.third_party.fast_downward_translator.translate import \
     main as downward_translate
 
+from bosdyn.client import math_helpers
+
 if TYPE_CHECKING:
     from predicators.envs import BaseEnv