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This commit is contained in:
Michel Breyer 2021-10-25 10:47:01 +02:00
parent 305654a200
commit a7f05f9354
1 changed files with 1 additions and 1 deletions
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2
src/active_grasp/controller.py
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@ -51,7 +51,7 @@ class GraspController:
def init_moveit(self): def init_moveit(self):
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("RRTstarkConfigDefault")
# 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(6.0) self.moveit.move_group.set_planning_time(6.0)