Grasp using velocity control

2021-10-12 19:42:37 +02:00
parent 505b768cce
commit 00fb19f5eb
2 changed files with 2 additions and 1 deletions
--- a/scripts/bt_sim_node.py
+++ b/scripts/bt_sim_node.py
@@ -253,7 +253,7 @@ class GraspActionPlugin(Plugin):
    def action_goal_cb(self):
        self.elapsed_time = 0.0
        goal = self.action_server.accept_new_goal()
-        self.gripper.set_desired_width(goal.width)
+        self.gripper.set_desired_speed(-0.1)

    def update(self):
        if self.action_server.is_active():