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Increase time for the planning scene to update

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This commit is contained in:
Michel Breyer 2021-11-09 15:27:36 +01:00
parent b5f12baaba
commit db681cea01
1 changed files with 1 additions and 1 deletions
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2
src/active_grasp/controller.py
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@ -141,8 +141,8 @@ class GraspController:
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, 0.2, 0.2) success, plan = self.moveit.plan(T_base_approach, 0.2, 0.2)
if success: if success:
self.moveit.execute(plan)
self.remove_target_collision_object(grasp) self.remove_target_collision_object(grasp)
self.moveit.execute(plan)
rospy.sleep(0.5) # Wait for the planning scene to be updated rospy.sleep(0.5) # Wait for the planning scene to be updated
self.moveit.gotoL(T_base_grasp * self.T_grasp_ee) self.moveit.gotoL(T_base_grasp * self.T_grasp_ee)
self.gripper.grasp() self.gripper.grasp()