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Revert unintended commits
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@corot
corot committed Nov 12, 2015
1 parent 20caee7 commit 40054c0
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Showing 2 changed files with 88 additions and 22 deletions.
32 changes: 10 additions & 22 deletions turtlebot_arm_moveit_demos/bin/pick_and_place.py
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Original file line number Diff line number Diff line change
Expand Up @@ -132,15 +132,15 @@ def __init__(self):
scene.remove_attached_object(GRIPPER_FRAME, target_id)

# Give the scene a chance to catch up
# rospy.sleep(1)
#
# # Start the arm in the "arm_up" pose stored in the SRDF file
# rospy.loginfo("Set Arm: right_up")
# arm.set_named_target('right_up')
# if arm.go() != True:
# rospy.logwarn(" Go failed")
# rospy.sleep(2)
#
rospy.sleep(1)

# Start the arm in the "arm_up" pose stored in the SRDF file
rospy.loginfo("Set Arm: right_up")
arm.set_named_target('right_up')
if arm.go() != True:
rospy.logwarn(" Go failed")
rospy.sleep(2)

# Move the gripper to the closed position
rospy.loginfo("Set Gripper: Close " + str(self.gripper_closed ) )
gripper.set_joint_value_target(self.gripper_closed)
Expand Down Expand Up @@ -328,21 +328,9 @@ def make_gripper_posture(self, joint_positions):
tp.effort = GRIPPER_EFFORT

tp.time_from_start = rospy.Duration(0.0)

#tp = copy.deepcopy(tp)
# tpf = JointTrajectoryPoint()
#
# # Assign the trajectory joint positions to the input positions
# tpf.positions = joint_positions
#
# # Set the gripper effort
# tpf.effort = GRIPPER_EFFORT
#
# tpf.time_from_start = rospy.Duration(3.0)
#

# Append the goal point to the trajectory points
t.points.append(tp)
# t.points.append(tpf)

# Return the joint trajectory
return t
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78 changes: 78 additions & 0 deletions turtlebot_arm_object_manipulation/.cproject
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@@ -0,0 +1,78 @@
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