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Open gripper after each run

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This commit is contained in:
Michel Breyer 2021-12-03 14:48:51 +01:00
parent 1c3764f785
commit 571b382654
2 changed files with 2 additions and 2 deletions
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3
scripts/hw_node.py
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@ -40,11 +40,10 @@ 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"])
self.gripper.move(0.04)
# Construct bounding box # Construct bounding box
bbox_min = self.T_base_roi.apply(self.scene_config["target"]["min"]) bbox_min = self.T_base_roi.apply(self.scene_config["target"]["min"])

1
src/active_grasp/controller.py
View File

@ -87,6 +87,7 @@ class GraspController:
res = self.execute_grasp(grasp) res = self.execute_grasp(grasp)
else: else:
res = "aborted" res = "aborted"
self.gripper.move(0.04)
return self.collect_info(res) return self.collect_info(res)
def reset(self): def reset(self):