Publish simulation state in multiple threads

2021-07-14 16:52:53 +02:00
parent 7d3283ff32
commit 8989115bd7
5 changed files with 124 additions and 93 deletions
--- a/active_grasp/controller.py
+++ b/active_grasp/controller.py
@@ -59,7 +59,7 @@ class GraspController:

        # Approach grasp pose.
        self.controller.send_target(T_B_G * self.T_G_EE)
-        rospy.sleep(1.0)
+        rospy.sleep(2.0)

        # Close the fingers.
        self.gripper.grasp()