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Open the gripper before each trial

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This commit is contained in:
Michel Breyer 2021-12-03 14:10:32 +01:00
parent c0ae6e2333
commit e6e116bf54
1 changed files with 3 additions and 0 deletions
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3
scripts/hw_node.py
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@ -25,6 +25,7 @@ class HwNode:
self.scene_config = load_yaml(cfg["scene_file"]) self.scene_config = load_yaml(cfg["scene_file"])
def init_robot_connection(self): def init_robot_connection(self):
self.gripper = PandaGripperClient()
self.switch_to_joint_trajectory_controller = rospy.ServiceProxy( self.switch_to_joint_trajectory_controller = rospy.ServiceProxy(
"controller_manager/switch_controller", SwitchController "controller_manager/switch_controller", SwitchController
) )
@ -39,6 +40,8 @@ class HwNode:
return SeedResponse() return SeedResponse()
def reset(self, req): def reset(self, req):
self.gripper.move(0.04)
# Move to the initial configuration # Move to the initial configuration
self.switch_to_joint_trajectory_controller() self.switch_to_joint_trajectory_controller()
self.moveit.goto(self.scene_config["q0"]) self.moveit.goto(self.scene_config["q0"])