From 8d37de25d2215348a7b5c157c76d7eca275ce134 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Mon, 16 Oct 2023 23:08:52 -0400 Subject: [PATCH] Get rid of link_grasp_center_real --- stretch_demos/nodes/grasp_point | 2 +- stretch_demos/nodes/place_point | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/stretch_demos/nodes/grasp_point b/stretch_demos/nodes/grasp_point index 1e04f27..a575c16 100755 --- a/stretch_demos/nodes/grasp_point +++ b/stretch_demos/nodes/grasp_point @@ -96,7 +96,7 @@ class GraspPointNode(hm.HelloNode): return self.best_target = best_target - self.manip.perform_cartesian_grasp(best_target, self, tooltip_frame='link_grasp_center_real') + self.manip.perform_cartesian_grasp(best_target, self, tooltip_frame='link_grasp_center') msg = Float32() msg.data = best_target['location_above_surface_m'] self.result_pub.publish(msg) diff --git a/stretch_demos/nodes/place_point b/stretch_demos/nodes/place_point index f3da374..7443258 100755 --- a/stretch_demos/nodes/place_point +++ b/stretch_demos/nodes/place_point @@ -59,7 +59,7 @@ class PlacePointNode(hm.HelloNode): self.update_perception = False target = copy.copy(self.placement_target) - self.manip.perform_cartesian_grasp(target, self, tooltip_frame='link_grasp_center_real', placing=True) + self.manip.perform_cartesian_grasp(target, self, tooltip_frame='link_grasp_center', placing=True) msg = Empty() self.result_pub.publish(msg)