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Minor formatting

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This commit is contained in:
Michel Breyer 2021-10-13 17:39:28 +02:00
parent 787dbb0e68
commit 305654a200
1 changed files with 0 additions and 3 deletions
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3
src/active_grasp/controller.py
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@ -76,18 +76,15 @@ class GraspController:
def run(self): def run(self):
bbox = self.reset() bbox = self.reset()
self.switch_to_cartesian_velocity_control() self.switch_to_cartesian_velocity_control()
with Timer("search_time"): with Timer("search_time"):
grasp = self.search_grasp(bbox) grasp = self.search_grasp(bbox)
if grasp: if grasp:
self.switch_to_joint_trajectory_control() self.switch_to_joint_trajectory_control()
with Timer("grasp_time"): with Timer("grasp_time"):
res = self.execute_grasp(grasp) res = self.execute_grasp(grasp)
else: else:
res = "aborted" res = "aborted"
return self.collect_info(res) return self.collect_info(res)
def reset(self): def reset(self):