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Change MoveIt planner

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This commit is contained in:
Michel Breyer
2021-10-13 11:59:10 +02:00
parent e5da49d0a6
commit 8a1b8130dc
2 changed files with 9 additions and 4 deletions
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5
src/active_grasp/controller.py
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@@ -51,6 +51,9 @@ class GraspController:
def init_moveit(self):
self.moveit = MoveItClient("panda_arm")
rospy.sleep(1.0) # Wait for connections to be established.
self.moveit.move_group.set_planner_id("PRMstarkConfigDefault")
self.moveit.move_group.set_num_planning_attempts(10)
self.moveit.move_group.set_planning_time(5.0)
def switch_to_cartesian_velocity_control(self):
req = SwitchControllerRequest()
@@ -167,7 +170,7 @@ class GraspController:
self.moveit.goto(T_base_grasp * self.T_grasp_ee)
self.gripper.grasp()
self.moveit.goto(Transform.t([0, 0, 0.1]) * T_base_grasp * self.T_grasp_ee)
success = self.gripper.read() > 0.005
success = self.gripper.read() > 0.002
return "succeeded" if success else "failed"
def postprocess(self, T_base_grasp):