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Adjust pregrasp pose

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This commit is contained in:
Michel Breyer 2021-10-13 15:44:22 +02:00
parent c6126d5a3f
commit 1532d66b6e
1 changed files with 1 additions and 1 deletions
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src/active_grasp/controller.py
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@ -140,7 +140,7 @@ class GraspController:
self.create_collision_scene(grasp) self.create_collision_scene(grasp)
T_base_grasp = self.postprocess(grasp.pose) T_base_grasp = self.postprocess(grasp.pose)
self.gripper.move(0.08) self.gripper.move(0.08)
self.moveit.goto(T_base_grasp * Transform.t([0, 0, -0.05]) * self.T_grasp_ee) self.moveit.goto(T_base_grasp * Transform.t([0, 0, -0.06]) * self.T_grasp_ee)
self.moveit.scene.remove_world_object(self.target_co_name) self.moveit.scene.remove_world_object(self.target_co_name)
rospy.sleep(0.5) # Wait for the planning scene to be updated rospy.sleep(0.5) # Wait for the planning scene to be updated
self.moveit.gotoL(T_base_grasp * self.T_grasp_ee) self.moveit.gotoL(T_base_grasp * self.T_grasp_ee)