Pass frame explicitly to each visualization method

2021-08-17 16:24:23 +02:00
parent 69e6acf00b
commit 26f7103237
4 changed files with 53 additions and 36 deletions
--- a/active_grasp/controller.py
+++ b/active_grasp/controller.py
@@ -89,7 +89,7 @@ class GraspController:
        self.send_cmd(
            T_base_grasp * Transform.translation([0, 0, -0.05]) * self.T_grasp_ee
        )
-        rospy.sleep(3.0)
+        rospy.sleep(4.0)  # TODO

        # Approach grasp pose.
        self.send_cmd(T_base_grasp * self.T_grasp_ee)