From 1ba6157024c2b5c9e5932c6138262b20f4230f19 Mon Sep 17 00:00:00 2001 From: Amal Nanavati Date: Mon, 13 Dec 2021 16:24:37 -0800 Subject: [PATCH] Removed second DetectAndMoveAboveFood, changed grape's tiltStyle --- config/gen2_feeding_demo.yaml | 2 +- src/action/Skewer.cpp | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/config/gen2_feeding_demo.yaml b/config/gen2_feeding_demo.yaml index 58f56a39..8a8677b5 100644 --- a/config/gen2_feeding_demo.yaml +++ b/config/gen2_feeding_demo.yaml @@ -121,7 +121,7 @@ foodItems: #pickUpAngleModes: [0, 2, 2, 0, 0, 0, 0] names: ["apple", "banana", "bell_pepper", "broccoli", "cantaloupe", "carrot", "cauliflower", "celery", "cherry_tomato", "grape", "honeydew", "kiwi", "strawberry", "lettuce", "spinach", "kale"] forces: [10, 10, 10, 10, 15, 22, 7, 22, 7, 10, 7, 7, 15, 7, 7, 7] - pickUpAngleModes: [1, 5, 1, 2, 1, 1, 0, 1, 1, 3, 3, 3, 0, 1, 2, 0] + pickUpAngleModes: [1, 5, 1, 2, 1, 1, 0, 1, 1, 1, 3, 3, 0, 1, 2, 0] humanStudy: autoAcquisition: true diff --git a/src/action/Skewer.cpp b/src/action/Skewer.cpp index 627f0f3c..06cd0afc 100644 --- a/src/action/Skewer.cpp +++ b/src/action/Skewer.cpp @@ -156,8 +156,8 @@ bool skewer(const std::shared_ptr &perception, Eigen::Vector3d foodVec = item->getPose().rotation() * Eigen::Vector3d::UnitX(); double baseRotateAngle = atan2(foodVec[1], foodVec[0]); - detectAndMoveAboveFood(perception, foodName, rotationToleranceForFood, - feedingDemo, &baseRotateAngle, actionNum); + // detectAndMoveAboveFood(perception, foodName, rotationToleranceForFood, + // feedingDemo, &baseRotateAngle, actionNum); auto tiltStyle = item->getAction()->getTiltStyle(); if (tiltStyle == TiltStyle::ANGLED) { // Apply base rotation of food