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Move the staging location down, adjust the planning scene based on th…
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…e real table location
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amalnanavati committed Sep 6, 2023
1 parent 9f1dc5c commit 5b0aa33
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Showing 2 changed files with 15 additions and 8 deletions.
21 changes: 14 additions & 7 deletions ada_feeding/config/ada_feeding_action_servers.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -89,13 +89,20 @@ ada_feeding_action_servers:
# - -2.83523 # j2n6s200_joint_4
# - -1.61925 # j2n6s200_joint_5
# - -2.67325 # j2n6s200_joint_6
# Front-staging configuration
- -2.30252
- 4.23221
- 3.84109
- -4.65546
- 3.94225
- 4.26543
# # Front-staging configuration -- Taller
# - -2.30252
# - 4.23221
# - 3.84109
# - -4.65546
# - 3.94225
# - 4.26543
# Front-staging configuration -- Shorter
- -2.32526
- 4.456298
- 4.16769
- 1.53262
- -2.18359
- -2.19525
orientation_constraint_quaternion: # perpendicular to the base link
- 0.707168 # x
- 0.0 # y
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2 changes: 1 addition & 1 deletion ada_feeding/config/ada_planning_scene.yaml
Original file line number Diff line number Diff line change
Expand Up @@ -19,7 +19,7 @@ ada_planning_scene:
quat_xyzw: [0.0, 0.0, 0.0, 1.0] # should match the wheelchair orientation
table: # the table mesh
filename: table.stl
position: [0.08, -0.5, -0.45]
position: [0.08, -0.5, -0.48]
quat_xyzw: [0.0, 0.0, 0.0, 1.0]
head: # the head mesh
filename: tom.stl
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