From 30ab57e7d2bf7c204f68625299f5f11b2780d56a Mon Sep 17 00:00:00 2001
From: Michel Breyer <michel.p.breyer@gmail.com>
Date: Wed, 13 Oct 2021 14:21:50 +0200
Subject: [PATCH] Increase planning time

---
 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 94b870e..90c7ce9 100644
--- a/src/active_grasp/controller.py
+++ b/src/active_grasp/controller.py
@@ -53,7 +53,7 @@ class GraspController:
         rospy.sleep(1.0)  # Wait for connections to be established.
         self.moveit.move_group.set_planner_id("PRMstarkConfigDefault")
         # self.moveit.move_group.set_num_planning_attempts(10)
-        self.moveit.move_group.set_planning_time(4.0)
+        self.moveit.move_group.set_planning_time(6.0)
 
     def switch_to_cartesian_velocity_control(self):
         req = SwitchControllerRequest()