[demos] Small fixes to make demo work everywhere

Tigul · Apr 2, 2024 · 88b0421 · 88b0421
1 parent 6540f84
commit 88b0421
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Showing 2 changed files with 2 additions and 6 deletions.
diff --git a/demos/pycram_bullet_world_demo/demo.py b/demos/pycram_bullet_world_demo/demo.py
@@ -67,11 +67,7 @@ def move_and_detect(obj_type):
     pickup_arm = "left" if drawer_open_loc.arms[0] == "right" else "right"
     PickUpAction(spoon_desig, [pickup_arm], ["top"]).resolve().perform()
 
-    ParkArmsAction([Arms.BOTH]).resolve().perform()
-
-    close_loc = drawer_open_loc.pose
-    close_loc.position.y += 0.1
-    NavigateAction([close_loc]).resolve().perform()
+    ParkArmsAction([Arms.LEFT if pickup_arm == "left" else Arms.RIGHT]).resolve().perform()
 
     CloseAction(object_designator_description=handle_desig, arms=[drawer_open_loc.arms[0]]).resolve().perform()
 

diff --git a/src/pycram/process_modules/pr2_process_modules.py b/src/pycram/process_modules/pr2_process_modules.py
@@ -176,7 +176,7 @@ def _execute(self, desig: OpeningMotion):
 
         desig.object_part.bullet_world_object.set_joint_state(container_joint,
                                                               part_of_object.get_joint_limits(
-                                                                  container_joint)[1])
+                                                                  container_joint)[1] - 0.05)
 
 
 class Pr2Close(ProcessModule):