From 9f86038cc2a213d421eff89aff59651b72c0b9ea Mon Sep 17 00:00:00 2001
From: Charlie Kemp <31106448+hello-ck@users.noreply.github.com>
Date: Fri, 3 Jul 2020 11:49:04 -0400
Subject: [PATCH] increased telescoping arm acceptable error, since light
 surface wiping contact resulted in time outs

---
 stretch_core/nodes/command_groups.py | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/stretch_core/nodes/command_groups.py b/stretch_core/nodes/command_groups.py
index eb8d14b..b6c3f0a 100644
--- a/stretch_core/nodes/command_groups.py
+++ b/stretch_core/nodes/command_groups.py
@@ -330,7 +330,8 @@ class GripperCommandGroup(SimpleCommandGroup):
 
 class TelescopingCommandGroup(SimpleCommandGroup):
     def __init__(self, range_m, wrist_extension_calibrated_retracted_offset):
-        SimpleCommandGroup.__init__(self, 'wrist_extension', range_m, acceptable_joint_error=0.005)
+        #SimpleCommandGroup.__init__(self, 'wrist_extension', range_m, acceptable_joint_error=0.005)
+        SimpleCommandGroup.__init__(self, 'wrist_extension', range_m, acceptable_joint_error=0.008)
         self.wrist_extension_calibrated_retracted_offset = wrist_extension_calibrated_retracted_offset
         self.telescoping_joints = ['joint_arm_l3', 'joint_arm_l2', 'joint_arm_l1', 'joint_arm_l0']
         self.is_telescoping = False