From 63846ec2265567b6d01cef14eeb34e353a7d35cf Mon Sep 17 00:00:00 2001
From: Max Hunt <mh2817@ic.ac.uk>
Date: Thu, 13 Feb 2020 14:17:58 +0000
Subject: [PATCH] Update

---
 bricks_etc.py |  6 +++---
 main.py       | 26 +++++++++++++-------------
 2 files changed, 16 insertions(+), 16 deletions(-)

diff --git a/bricks_etc.py b/bricks_etc.py
index 44b188b..a1d5541 100644
--- a/bricks_etc.py
+++ b/bricks_etc.py
@@ -15,12 +15,12 @@ table = {
 bricks_end =[{
     'id':'f1',
     'rframe':'t1',
-    'x':0.06,
-    'y':-0.24,
+    'x':0.0,
+    'y':0.0,
     'z':0.822,
     'roll':0,
     'pitch':radians(90),
-    'yaw':radians(90)
+    'yaw':0
     },
     {
     'id':'f2',
diff --git a/main.py b/main.py
index 6829a25..1829967 100755
--- a/main.py
+++ b/main.py
@@ -247,17 +247,17 @@ if __name__ == "__main__":
     right_pose.orientation.z = -0.00737916180073
     right_pose.orientation.w = 0.00486450832011
 
-    left_pnp = PickAndPlace('left', hover_distance)
-    right_pnp = PickAndPlace('right', hover_distance)
+    # left_pnp = PickAndPlace('left', hover_distance)
+    # right_pnp = PickAndPlace('right', hover_distance)
 
-    # Go to initial position
-    left_pnp.move_to_start(left_pnp.ik_request(left_pose))
-    right_pnp.move_to_start(right_pnp.ik_request(right_pose))
+    # # Go to initial position
+    # left_pnp.move_to_start(left_pnp.ik_request(left_pose))
+    # right_pnp.move_to_start(right_pnp.ik_request(right_pose))
 
     load_objects()
 
-    print("loaded all objects, starting tf service thread")
-    tf_service(init=True)
+    # print("loaded all objects, starting tf service thread")
+    # tf_service(init=True)
 
     ###################################HACKING BEGIN
     # for i in range(0, 5):
@@ -271,14 +271,14 @@ if __name__ == "__main__":
     #     print()
     #     print()
 
-    left_pick = otc.tf_lookup('a1')
-    left_pick.position.z+=0.05
-    left_pnp.pick(left_pick)
+    # left_pick = otc.tf_lookup('a1')
+    # left_pick.position.z+=0.05
+    # left_pnp.pick(left_pick)
 
 
-    left_place = otc.tf_lookup('f2')
-    left_place.position.z+=0.05
-    left_pnp.place(left_place)
+    # left_place = otc.tf_lookup('f2')
+    # left_place.position.z+=0.05
+    # left_pnp.place(left_place)