diff --git a/src/DummyConnector.cpp b/src/DummyConnector.cpp index ae51c2dc1186503106815d2e18ec4583aa6618ac..3bbe84a79285f6e261304df64a4dc4f77d3feb34 100644 --- a/src/DummyConnector.cpp +++ b/src/DummyConnector.cpp @@ -34,8 +34,8 @@ bool DummyConnector::reachableObject(const Object &robot, const Object &object) double dy = object.pos().y() - robot.pos().y(); double dz = object.pos().z() - robot.pos().z(); - // if the location is within a "cone" with a radius of 150mm around the robot base, it is too close to place - if (std::sqrt(dx*dx) < 0.15) { + // if the location is within a "cone" with a radius of 50mm around the robot base, it is too close to place + if (std::sqrt(dx*dx + dy*dy) < 0.05) { return false; } diff --git a/src/dummy_rbg_connector.cpp b/src/dummy_rbg_connector.cpp index dc906cde6d76168c2ccc1ea5c412ab10f1e7d5d6..b28cf870542a8d7fb23539f8499f656826462d66 100644 --- a/src/dummy_rbg_connector.cpp +++ b/src/dummy_rbg_connector.cpp @@ -41,6 +41,9 @@ int main(int argc, char **argv) { DummyConnector connector{n, CELL_NAME}; + // only for debugging (uncomment when running without the RAG part) + // connector.loadScene("/home/jm/work/git/ceti/models2021/src/cgv_connector/config/config_pick_place_scene.json"); + // add an MQTT connection std::string mqtt_address = getParameter(n, "mqtt/mqtt_address", "tcp://localhost:1883"); std::unique_ptr<MqttConnection> mqtt_connection = std::make_unique<MqttConnection>(mqtt_address, NODE_NAME);