Move towards best grasp candidate

2021-09-03 17:10:36 +02:00
parent f43688023b
commit 81588a1075
5 changed files with 37 additions and 25 deletions
--- a/active_grasp/controller.py
+++ b/active_grasp/controller.py
@@ -90,7 +90,7 @@ class GraspController:
        self.send_cmd(
            T_base_grasp * Transform.translation([0, 0, -0.05]) * self.T_grasp_ee
        )
-        rospy.sleep(4.0)  # TODO
+        rospy.sleep(3.0)  # TODO

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