From e428673cb032ad7954155429bd43a218e9806177 Mon Sep 17 00:00:00 2001 From: Griffin Addison Date: Thu, 30 Jan 2025 14:07:58 -0500 Subject: [PATCH] removed extraneous stand_twisted() function --- .../spot_examples/arm_walk_to_object.py | 26 +++++++++---------- 1 file changed, 13 insertions(+), 13 deletions(-) diff --git a/spot_examples/spot_examples/arm_walk_to_object.py b/spot_examples/spot_examples/arm_walk_to_object.py index f5104d7c..2f18776f 100644 --- a/spot_examples/spot_examples/arm_walk_to_object.py +++ b/spot_examples/spot_examples/arm_walk_to_object.py @@ -83,17 +83,17 @@ def stand(self) -> bool: time.sleep(3) return True - def take_photo(self) -> None: - footprint_R_body = bosdyn.geometry.EulerZXY(yaw=0.4, roll=0.0, pitch=0.0) - - cmd = RobotCommandBuilder.synchro_stand_command(footprint_R_body=footprint_R_body) - action_goal = RobotCommand.Goal() - convert(cmd, action_goal.command) - self.logger.info("Twisting robot") - self.robot_command_client.send_goal_and_wait("twisting_robot", action_goal) - - self.logger.info('Robot standing twisted.') - time.sleep(3) + # def take_photo(self) -> None: + # footprint_R_body = bosdyn.geometry.EulerZXY(yaw=0.4, roll=0.0, pitch=0.0) + # + # cmd = RobotCommandBuilder.synchro_stand_command(footprint_R_body=footprint_R_body) + # action_goal = RobotCommand.Goal() + # convert(cmd, action_goal.command) + # self.logger.info("Twisting robot") + # self.robot_command_client.send_goal_and_wait("twisting_robot", action_goal) + # + # self.logger.info('Robot standing twisted.') + # time.sleep(3) def image_callback(self, image_raw): self.logger.debug("recieved image") @@ -117,7 +117,7 @@ def query_user_and_go_to_object(self, display_time=3.0): cv2.namedWindow(image_title) cv2.setMouseCallback(image_title, cv_mouse_callback) - image_display = self.br.imgmsg_to_cv2(self.latest_image_raw) + self.image_display = self.br.imgmsg_to_cv2(self.latest_image_raw) cv2.imshow(image_title, self.image_display) while self.image_click is None: key = cv2.waitKey(1) & 0xFF @@ -236,7 +236,7 @@ def main(args: argparse.Namespace) -> None: hello_spot = ArmWalkToObject(args.robot) hello_spot.initialize_robot() hello_spot.stand() - hello_spot.take_photo() + # hello_spot.take_photo() hello_spot.query_user_and_go_to_object()