Serve breakfast final

tue-robotics · Jul 7, 2023 · c604e82 · c604e82
1 parent 328d6a1
commit c604e82
Show file tree

Hide file tree

Showing 3 changed files with 5 additions and 8 deletions.
diff --git a/...enge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_place_item_on_table.py b/...enge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_place_item_on_table.py
@@ -83,9 +83,7 @@ def _align_with_table(user_data):
         def _place_and_retract(user_data):
             rospy.loginfo("Placing...")
             item_name = user_data["item_picked"]
-            if item_name in ["milk_carton"]:
-                send_joint_goal(JOINTS_PLACE_HORIZONTAL)
-            elif item_name in ["cereal_box"]:
+            if item_name in ["milk_carton", "cereal_box"]:
                 send_joint_goal(JOINTS_PLACE_HORIZONTAL_MILK)
             else:
                 send_joint_goal(JOINTS_PLACE_VERTICAL)

diff --git a/challenge_serve_breakfast/src/challenge_serve_breakfast/pick_pour_place_cereal.py b/challenge_serve_breakfast/src/challenge_serve_breakfast/pick_pour_place_cereal.py
@@ -53,9 +53,8 @@ def _align_pour(_):
         @cb_interface(outcomes=["done"])
         def _pour(_):
             robot.speech.speak("Hope this goes well", block=False)
-            arm = robot.get_arm()._arm
             send_joint_goal(JOINTS_PRE_POUR)
-            arm.wait_for_motion_done()
+            rospy.sleep(0.5)
             send_joint_goal(JOINTS_POUR)
             send_joint_goal(JOINTS_PRE_POUR)
             send_joint_goal(JOINTS_POST_PICK)

diff --git a/challenge_serve_breakfast/src/challenge_serve_breakfast/tuning.py b/challenge_serve_breakfast/src/challenge_serve_breakfast/tuning.py
@@ -45,12 +45,12 @@
 
 JOINTS_POST_PICK = [0.7, -1.2, 0, 0, 0]
 
-JOINTS_PRE_POUR = [0.5, -1.2, -1.5, 0, 0]
+JOINTS_PRE_POUR = [0.35, -1.2, 0, 0, 0]
 
-JOINTS_POUR = [0.35, -1.2, -2.5, 0, 0]
+JOINTS_POUR = [0.4, -1.2, -2.5, 0, 0]
 
 POUR_OFFSET_X = -0.15
-POUR_OFFSET_Y = 0.2
+POUR_OFFSET_Y = 0.15
 
 
 def item_vector_to_item_frame(item_vector):