From 32d0f1d43a9da2b71a4b1e101edc6ce057b431f5 Mon Sep 17 00:00:00 2001 From: artable-dev Date: Wed, 7 Nov 2018 16:31:57 +0100 Subject: [PATCH] Uncommited changes before MSV2018 --- art_pr2_interface/src/art_pr2_interface/art_pr2_interface.py | 3 +++ 1 file changed, 3 insertions(+) diff --git a/art_pr2_interface/src/art_pr2_interface/art_pr2_interface.py b/art_pr2_interface/src/art_pr2_interface/art_pr2_interface.py index 77bc7e4..89ac42e 100644 --- a/art_pr2_interface/src/art_pr2_interface/art_pr2_interface.py +++ b/art_pr2_interface/src/art_pr2_interface/art_pr2_interface.py @@ -116,6 +116,9 @@ def select_arm_for_drill(self, obj_to_drill, objects_frame_id, tf_listener): else: return self.LEFT_ARM + def select_arm_for_visual_inspection(self): + return self.RIGHT_ARM + def select_free_arm(self): left_arm = self.get_arm_by_id(self.LEFT_ARM) if self.gripper_usage in [self.BOTH_ARM, self.LEFT_ARM] else None # type: ArtGripper