[fix] the position of the box in the "Move Group Python Interface" (m…

…oveit#543)
Airyzf · Oct 13, 2020 · 3c90b71 · 3c90b71
1 parent 40bd382
commit 3c90b71
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Showing 2 changed files with 6 additions and 4 deletions.
diff --git a/README.md b/README.md
@@ -25,6 +25,8 @@ This repository is currently built automatically by two systems. Travis builds t
 If you want to test the tutorials by generating the html pages locally on your machine, use the ``build_locally`` script.
 It has been tested on Ubuntu 16.04 with ROS Kinetic pre-installed. Run in the root of the moveit_tutorials package:
 
+> **_NOTE:_**  [rosdoc_lite](https://wiki.ros.org/rosdoc_lite) is needed to run the build_locally.sh script!
+
     export ROS_DISTRO=kinetic # 16.04
     export ROS_DISTRO=melodic # 18.04
     export ROS_DISTRO=noetic  # 20.04

diff --git a/doc/move_group_python_interface/scripts/move_group_python_interface_tutorial.py b/doc/move_group_python_interface/scripts/move_group_python_interface_tutorial.py
@@ -366,13 +366,13 @@ def add_box(self, timeout=4):
     ##
     ## Adding Objects to the Planning Scene
     ## ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-    ## First, we will create a box in the planning scene at the location of the left finger:
+    ## First, we will create a box in the planning scene between the fingers:
     box_pose = geometry_msgs.msg.PoseStamped()
-    box_pose.header.frame_id = "panda_leftfinger"
+    box_pose.header.frame_id = "panda_hand"
     box_pose.pose.orientation.w = 1.0
-    box_pose.pose.position.z = 0.07 # slightly above the end effector
+    box_pose.pose.position.z = 0.11 # above the panda_hand frame
     box_name = "box"
-    scene.add_box(box_name, box_pose, size=(0.1, 0.1, 0.1))
+    scene.add_box(box_name, box_pose, size=(0.075, 0.075, 0.075))
 
     ## END_SUB_TUTORIAL
     # Copy local variables back to class variables. In practice, you should use the class