From e7b5e504fec4eae16bbe1a2e2d6b320f0d652349 Mon Sep 17 00:00:00 2001 From: Peter van Dooren Date: Tue, 25 Jul 2023 18:29:51 +0200 Subject: [PATCH] remove unused code --- .../navigate_to_and_pick_item.py | 14 +------------- 1 file changed, 1 insertion(+), 13 deletions(-) diff --git a/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_pick_item.py b/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_pick_item.py index 23dbb828e..039f8940d 100644 --- a/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_pick_item.py +++ b/challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_pick_item.py @@ -15,7 +15,7 @@ from pykdl_ros import VectorStamped from robot_smach_states.human_interaction import Say from robot_smach_states.navigation import NavigateToSymbolic -from robot_smach_states.util.designators import EdEntityDesignator, ArmDesignator +from robot_smach_states.util.designators import EdEntityDesignator from smach import StateMachine, cb_interface, CBState item_img_dict = { @@ -32,7 +32,6 @@ def __init__(self, robot): # noinspection PyProtectedMember arm = robot.get_arm()._arm picked_items = [] - armdes = ArmDesignator(robot, {"required_gripper_types": [GripperTypes.GRASPING]}) def send_joint_goal(position_array, wait_for_motion_done=True): # noinspection PyProtectedMember @@ -105,17 +104,6 @@ def _carrying_pose(user_data): self.add("ASK_USER", CBState(_ask_user), transitions={"succeeded": "CARRYING_POSE", "failed": "failed"}) - # self.add("CHECK_PICK_SUCCESSFUL", - # ActiveGraspDetector(robot, armdes), - # transitions={'true': "CARRYING_POSE", - # 'false': "SAY_SOMETHING_WENT_WRONG", - # 'failed': "failed", - # 'cannot_determine': "SAY_SOMETHING_WENT_WRONG"} - # ) - - # self.add("SAY_SOMETHING_WENT_WRONG", Say(robot, "Oops, it seems I missed it. Lets try again"), - # transitions={"spoken": "ASK_USER2"}) - # self.add("ASK_USER2", CBState(_ask_user), transitions={"succeeded": "CARRYING_POSE", "failed": "failed"}) self.add("CARRYING_POSE", CBState(_carrying_pose), transitions={"done": "succeeded"})