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Specify MoveIt velocity scaling

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This commit is contained in:
Michel Breyer 2021-11-08 15:09:27 +01:00
parent 2df4f09d0b
commit 945c912347
1 changed files with 1 additions and 1 deletions
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src/active_grasp/controller.py
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@ -138,7 +138,7 @@ class GraspController:
T_base_grasp = self.postprocess(grasp.pose) T_base_grasp = self.postprocess(grasp.pose)
self.gripper.move(0.08) self.gripper.move(0.08)
T_base_approach = T_base_grasp * Transform.t([0, 0, -0.06]) * self.T_grasp_ee T_base_approach = T_base_grasp * Transform.t([0, 0, -0.06]) * self.T_grasp_ee
success, plan = self.moveit.plan(T_base_approach) success, plan = self.moveit.plan(T_base_approach, 0.2, 0.2)
if success: if success:
self.moveit.execute(plan) self.moveit.execute(plan)
self.remove_target_collision_object(grasp) self.remove_target_collision_object(grasp)