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Reduce err thres to prevent immediate goal success

pull/108/head
Chintan Desai 1 year ago
committed by GitHub
parent
fe34bcc5be
commit
67646f60d4
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1 changed files with 1 additions and 1 deletions
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  1. +1
    -1
      stretch_core/nodes/command_groups.py

+ 1
- 1
stretch_core/nodes/command_groups.py View File

@ -140,7 +140,7 @@ class WristYawCommandGroup(SimpleCommandGroup):
class GripperCommandGroup(SimpleCommandGroup): class GripperCommandGroup(SimpleCommandGroup):
def __init__(self, range_robotis=None, node=None): def __init__(self, range_robotis=None, node=None):
self.gripper_conversion = GripperConversion() 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.gripper_joint_names = ['joint_gripper_finger_left', 'joint_gripper_finger_right', 'gripper_aperture']
self.update_joint_range(range_robotis) self.update_joint_range(range_robotis)

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