Removed second DetectAndMoveAboveFood, changed grape's tiltStyle

Author: amalnanavati

config/gen2_feeding_demo.yaml

@@ -121,7 +121,7 @@ foodItems:
   #pickUpAngleModes: [0, 2, 2, 0, 0, 0, 0]
   names: ["apple", "banana", "bell_pepper", "broccoli", "cantaloupe", "carrot", "cauliflower", "celery", "cherry_tomato", "grape", "honeydew", "kiwi", "strawberry", "lettuce", "spinach", "kale"]
   forces: [10, 10, 10, 10, 15, 22, 7, 22, 7, 10, 7, 7, 15, 7, 7, 7]
-  pickUpAngleModes: [1, 5, 1, 2, 1, 1, 0, 1, 1, 3, 3, 3, 0, 1, 2, 0]
+  pickUpAngleModes: [1, 5, 1, 2, 1, 1, 0, 1, 1, 1, 3, 3, 0, 1, 2, 0]
 
 humanStudy:
   autoAcquisition: true

src/action/Skewer.cpp

@@ -156,8 +156,8 @@ bool skewer(const std::shared_ptr<Perception> &perception,
         Eigen::Vector3d foodVec =
             item->getPose().rotation() * Eigen::Vector3d::UnitX();
         double baseRotateAngle = atan2(foodVec[1], foodVec[0]);
-        detectAndMoveAboveFood(perception, foodName, rotationToleranceForFood,
-                               feedingDemo, &baseRotateAngle, actionNum);
+        // detectAndMoveAboveFood(perception, foodName, rotationToleranceForFood,
+        //                        feedingDemo, &baseRotateAngle, actionNum);
         auto tiltStyle = item->getAction()->getTiltStyle();
         if (tiltStyle == TiltStyle::ANGLED) {
           // Apply base rotation of food