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Increase planning time

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This commit is contained in:
Michel Breyer 2021-10-13 14:21:50 +02:00
parent 51c4f8861a
commit 30ab57e7d2
1 changed files with 1 additions and 1 deletions
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src/active_grasp/controller.py
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@ -53,7 +53,7 @@ class GraspController:
rospy.sleep(1.0) # Wait for connections to be established. rospy.sleep(1.0) # Wait for connections to be established.
self.moveit.move_group.set_planner_id("PRMstarkConfigDefault") self.moveit.move_group.set_planner_id("PRMstarkConfigDefault")
# self.moveit.move_group.set_num_planning_attempts(10) # self.moveit.move_group.set_num_planning_attempts(10)
self.moveit.move_group.set_planning_time(4.0) self.moveit.move_group.set_planning_time(6.0)
def switch_to_cartesian_velocity_control(self): def switch_to_cartesian_velocity_control(self):
req = SwitchControllerRequest() req = SwitchControllerRequest()