From 67646f60d4d50f0579db60fa8139641b57d4f38e Mon Sep 17 00:00:00 2001 From: Chintan Desai Date: Thu, 3 Aug 2023 15:17:05 -0700 Subject: [PATCH] Reduce err thres to prevent immediate goal success --- stretch_core/nodes/command_groups.py | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/stretch_core/nodes/command_groups.py b/stretch_core/nodes/command_groups.py index a8502dd..e634285 100644 --- a/stretch_core/nodes/command_groups.py +++ b/stretch_core/nodes/command_groups.py @@ -140,7 +140,7 @@ class WristYawCommandGroup(SimpleCommandGroup): class GripperCommandGroup(SimpleCommandGroup): def __init__(self, range_robotis=None, node=None): self.gripper_conversion = GripperConversion() - SimpleCommandGroup.__init__(self, 'joint_gripper_finger_left', range_robotis, acceptable_joint_error=1.0, node=node) + SimpleCommandGroup.__init__(self, 'joint_gripper_finger_left', range_robotis, acceptable_joint_error=0.015, node=node) self.gripper_joint_names = ['joint_gripper_finger_left', 'joint_gripper_finger_right', 'gripper_aperture'] self.update_joint_range(range_robotis)