File size: 717 Bytes
7399b6f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 | """Put an object away inside a roofed fixture: grasp it, then slide it in horizontally."""
from .base import approach_and_grasp, place_into
def solve(env, obj, target, arm="right", jaw="auto", max_gap=0.045, approach=(0.0, -1.0),
standoff=0.16, tilt_deg=0.0):
a = env.arms[arm]
res, ext = approach_and_grasp(env, a, obj, jaw=jaw, max_gap=max_gap)
if not res.ok:
env.recorder.phase = "ABORT: the object was never grasped"
return {"grasped": False, "reason": res.reason}
env._last_placed = obj
err = place_into(env, a, target, float(ext[2])/2.0, approach=approach, standoff=standoff,
tilt_deg=tilt_deg)
return {"grasped": True, "place_err": err}
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