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/src/active_grasp/simulation.py
+++ b/src/active_grasp/simulation.py
@@ -63,6 +63,7 @@ class Simulation:
            p.resetJointState(self.arm.uid, i, q_i, 0)
        p.resetJointState(self.arm.uid, 9, 0.04, 0)
        p.resetJointState(self.arm.uid, 10, 0.04, 0)
+        self.gripper.set_desired_width(0.4)

    def select_target(self):
        _, _, mask = self.camera.get_image()