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Interpolate trajectories

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This commit is contained in:
Michel Breyer
2021-09-04 16:52:11 +02:00
parent 3f3b58f404
commit 9751b51f33
2 changed files with 19 additions and 16 deletions
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2
active_grasp/controller.py
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@@ -111,7 +111,7 @@ class GraspController:
self.moveit.goto(T_base_grasp * Transform.t([0, 0, -0.05]) * self.T_grasp_ee)
self.moveit.goto(T_base_grasp * self.T_grasp_ee)
self.gripper.grasp()
self.moveit.goto(Transform.t([0, 0, 0.2]) * T_base_grasp * self.T_grasp_ee)
self.moveit.goto(Transform.t([0, 0, 0.1]) * T_base_grasp * self.T_grasp_ee)
success = self.gripper.read() > 0.005