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Fix reset

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This commit is contained in:
Michel Breyer 2021-12-06 09:29:39 +01:00
parent d7cf72b1bc
commit ea5dc1a6b3
1 changed files with 2 additions and 2 deletions
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4
scripts/hw_node.py
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@ -27,7 +27,7 @@ class HwNode:
def init_robot_connection(self): def init_robot_connection(self):
self.gripper = PandaGripperClient() self.gripper = PandaGripperClient()
self.switch_to_joint_trajectory_controller = rospy.ServiceProxy( self.switch_controller = rospy.ServiceProxy(
"controller_manager/switch_controller", SwitchController "controller_manager/switch_controller", SwitchController
) )
self.moveit = MoveItClient("panda_arm") self.moveit = MoveItClient("panda_arm")
@ -50,7 +50,7 @@ class HwNode:
# Move to the initial configuration # Move to the initial configuration
self.switch_to_joint_trajectory_controller() self.switch_to_joint_trajectory_controller()
self.moveit.goto(q0) self.moveit.goto(q0)
self.gripper.move(0.04) self.gripper.move(0.08)
return ResetResponse(to_bbox_msg(bbox)) return ResetResponse(to_bbox_msg(bbox))