Move the staging location down, adjust the planning scene based on th…

…e real table location
personalrobotics · Sep 2, 2023 · 6cc0c77 · 6cc0c77
1 parent 81c23cd
commit 6cc0c77
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Showing 2 changed files with 15 additions and 8 deletions.
diff --git a/ada_feeding/config/ada_feeding_action_servers.yaml b/ada_feeding/config/ada_feeding_action_servers.yaml
@@ -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

diff --git a/ada_feeding/config/ada_planning_scene.yaml b/ada_feeding/config/ada_planning_scene.yaml
@@ -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