From db681cea01a5f393c31299ec551af16a641612d6 Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Tue, 9 Nov 2021 15:27:36 +0100 Subject: [PATCH] Increase time for the planning scene to update --- src/active_grasp/controller.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/active_grasp/controller.py b/src/active_grasp/controller.py index c114d7f..c3ed92a 100644 --- a/src/active_grasp/controller.py +++ b/src/active_grasp/controller.py @@ -141,8 +141,8 @@ class GraspController: T_base_approach = T_base_grasp * Transform.t([0, 0, -0.06]) * self.T_grasp_ee success, plan = self.moveit.plan(T_base_approach, 0.2, 0.2) if success: - self.moveit.execute(plan) self.remove_target_collision_object(grasp) + self.moveit.execute(plan) rospy.sleep(0.5) # Wait for the planning scene to be updated self.moveit.gotoL(T_base_grasp * self.T_grasp_ee) self.gripper.grasp()