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Execute grasps with MoveIt

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This commit is contained in:
Michel Breyer
2021-09-04 15:50:29 +02:00
parent c508c65038
commit 3f3b58f404
7 changed files with 416 additions and 154 deletions
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4
cfg/active_grasp.yaml
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@@ -6,8 +6,8 @@ bt_sim:
grasp_controller:
base_frame_id: panda_link0
ee_frame_id: panda_hand
ee_grasp_offset: [0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.065]
linear_vel: 0.1
ee_grasp_offset: [0.0, 0.0, -0.383, 0.924, 0.0, 0.0, 0.065] # offset to the moveit ee
linear_vel: 0.05
qual_threshold: 0.9
camera:
frame_id: camera_optical_frame