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This commit is contained in:
Michel Breyer 2021-10-13 14:04:01 +02:00
parent 3cc4fb159b
commit 51c4f8861a
1 changed files with 2 additions and 2 deletions
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src/active_grasp/controller.py
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@ -52,8 +52,8 @@ class GraspController:
self.moveit = MoveItClient("panda_arm") self.moveit = MoveItClient("panda_arm")
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(5.0) self.moveit.move_group.set_planning_time(4.0)
def switch_to_cartesian_velocity_control(self): def switch_to_cartesian_velocity_control(self):
req = SwitchControllerRequest() req = SwitchControllerRequest()