From 1532d66b6ec73fdf67b3a893c8517ade456b57eb Mon Sep 17 00:00:00 2001 From: Michel Breyer Date: Wed, 13 Oct 2021 15:44:22 +0200 Subject: [PATCH] Adjust pregrasp pose --- 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 1d6d61b..62f24fa 100644 --- a/src/active_grasp/controller.py +++ b/src/active_grasp/controller.py @@ -140,7 +140,7 @@ class GraspController: self.create_collision_scene(grasp) T_base_grasp = self.postprocess(grasp.pose) self.gripper.move(0.08) - self.moveit.goto(T_base_grasp * Transform.t([0, 0, -0.05]) * self.T_grasp_ee) + self.moveit.goto(T_base_grasp * Transform.t([0, 0, -0.06]) * self.T_grasp_ee) self.moveit.scene.remove_world_object(self.target_co_name) rospy.sleep(0.5) # Wait for the planning scene to be updated self.moveit.gotoL(T_base_grasp * self.T_grasp_ee)