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Move initial config sampling to the scene

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This commit is contained in:
Michel Breyer
2021-09-07 23:18:10 +02:00
parent fa4b0f07ad
commit 60443b0c2f
2 changed files with 13 additions and 17 deletions
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4
active_grasp/controller.py
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@@ -50,9 +50,7 @@ class GraspController:
def init_moveit(self):
self.moveit = MoveItClient("panda_arm")
rospy.sleep(1.0) # wait for connections to be established
table_height = 0.22
msg = to_pose_stamped_msg(Transform.t([0.4, 0, table_height]), self.base_frame)
msg = to_pose_stamped_msg(Transform.t([0.4, 0, 0.4]), self.base_frame)
self.moveit.scene.add_box("table", msg, size=(0.5, 0.5, 0.02))
def switch_to_cartesian_velocity_control(self):