From 93c0087f78ab587701b431b4ebe8a6776390fda0 Mon Sep 17 00:00:00 2001
From: Max Hunt <mh2817@ic.ac.uk>
Date: Thu, 13 Feb 2020 10:52:41 +0000
Subject: [PATCH] Update

---
 bricks_etc.py |  4 ++--
 main.py       | 19 ++++++++++++-------
 2 files changed, 14 insertions(+), 9 deletions(-)

diff --git a/bricks_etc.py b/bricks_etc.py
index 44c1ef8..3669ac4 100644
--- a/bricks_etc.py
+++ b/bricks_etc.py
@@ -300,7 +300,7 @@ bricks_start_v2 =[{
     }]
 
 def getBuildable():
-    return bricks_start_v1
+    return bricks_start_v2
 
 def getAll():
     return bricks_start_v2+bricks_start_v1+bricks_end+[table]
@@ -313,7 +313,7 @@ def getTargets():
 
 def getNodes():
     nodes = ['baxter::base', 't1::Table']
-    for obj in bricks_start_v1 + bricks_end:
+    for obj in bricks_start_v2 + bricks_end:
         name = obj['id']
         node_name = name+'::Brick'
         nodes.append(node_name)
diff --git a/main.py b/main.py
index a42a1f2..e47cfcb 100755
--- a/main.py
+++ b/main.py
@@ -260,17 +260,22 @@ if __name__ == "__main__":
     tf_service(init=True)
 
     ###################################HACKING BEGIN
-
-
-
-    left_pick = otc.tf_lookup('a3')
+    for i in range(0, 5):
+        print()
+        otc.tf_lookup('a1')
+        print()
+        print()
+        otc.tf_lookup('f2')
+        print()
+        print()
+    # left_pick = otc.tf_lookup('a1')
     # left_pick.position.z+=0.5
-    left_pnp.pick(left_pick)
+    # left_pnp.pick(left_pick)
 
 
-    left_place = otc.tf_lookup('f2')
+    # left_place = otc.tf_lookup('f2')
     # left_pick.position.z+=0.5
-    left_pnp.place(left_place)
+    # left_pnp.place(left_place)