From e43621b33faf57eb61f36d929c40b02d4949d95d Mon Sep 17 00:00:00 2001
From: Charlie Kemp <31106448+hello-ck@users.noreply.github.com>
Date: Wed, 24 Jun 2020 22:41:39 -0400
Subject: [PATCH] grasp_object code used for new autonomy video

---
 stretch_demos/nodes/grasp_object                   | 14 ++------------
 .../src/stretch_funmap/manipulation_planning.py    |  2 +-
 2 files changed, 3 insertions(+), 13 deletions(-)

diff --git a/stretch_demos/nodes/grasp_object b/stretch_demos/nodes/grasp_object
index d1b2eb0..cb8bb62 100755
--- a/stretch_demos/nodes/grasp_object
+++ b/stretch_demos/nodes/grasp_object
@@ -73,7 +73,7 @@ class GraspObjectNode(hm.HelloNode):
     def look_at_surface(self, scan_time_s=None):
         self.manipulation_view = mp.ManipulationView(self.tf2_buffer, self.debug_directory)
         manip = self.manipulation_view
-        head_settle_time_s = 1.0
+        head_settle_time_s = 0.02 #1.0
         manip.move_head(self.move_to_pose)
         rospy.sleep(head_settle_time_s)
         if scan_time_s is None:
@@ -120,10 +120,6 @@ class GraspObjectNode(hm.HelloNode):
             rospy.loginfo('Reorient the wrist.')
             pose = {'joint_wrist_yaw': 0.0}
             self.move_to_pose(pose)
-
-        # sleep to make sure the joint poses are up to date - this
-        # should be changed to look at time stamps of the joints...
-        rospy.sleep(1.0)
             
         self.look_at_surface(scan_time_s = 3.0)
         
@@ -158,9 +154,6 @@ class GraspObjectNode(hm.HelloNode):
                 pose = {'gripper_aperture': 0.125}
                 self.move_to_pose(pose)
 
-            # sleep to make sure the joint poses are up to date - this
-            # should be changed to look at time stamps of the joints...
-            rospy.sleep(1.0)
             pregrasp_mobile_base_m, pregrasp_wrist_extension_m = self.manipulation_view.get_pregrasp_planar_translation(grasp_target, self.tf2_buffer)
             
             print('pregrasp_mobile_base_m = {0:.3f} m'.format(pregrasp_mobile_base_m))
@@ -178,10 +171,7 @@ class GraspObjectNode(hm.HelloNode):
                     self.move_to_pose(pose)
                 else:
                     print('negative wrist extension for pregrasp, so not extending or retracting.')
-                    
-            # sleep to make sure the joint poses are up to date - this
-            # should be changed to look at time stamps of the joints...
-            rospy.sleep(1.0)
+
             grasp_mobile_base_m, grasp_lift_m, grasp_wrist_extension_m = self.manipulation_view.get_grasp_from_pregrasp(grasp_target, self.tf2_buffer)
             print('grasp_mobile_base_m = {0:3f} m, grasp_lift_m = {1:3f} m, grasp_wrist_extension_m = {2:3f} m'.format(grasp_mobile_base_m, grasp_lift_m, grasp_wrist_extension_m))
 
diff --git a/stretch_funmap/src/stretch_funmap/manipulation_planning.py b/stretch_funmap/src/stretch_funmap/manipulation_planning.py
index 5591941..a7063d7 100755
--- a/stretch_funmap/src/stretch_funmap/manipulation_planning.py
+++ b/stretch_funmap/src/stretch_funmap/manipulation_planning.py
@@ -252,7 +252,7 @@ class ManipulationView():
 
     def move_head(self, move_to_pose):
         tilt = -0.8
-        pan = -1.6
+        pan = -1.8 #-1.6
         # This head configuration can reduce seeing the hand or arm when they are held high, which can avoid noise due to the hand and arm being to close to the head.
         #tilt = -0.6
         #pan = -0.9