From eb85fa4f8fcb421c3c74659432b5cf6e5e6de5a2 Mon Sep 17 00:00:00 2001 From: Binit Shah Date: Tue, 11 Jul 2023 00:22:37 -0700 Subject: [PATCH] Add hack for dex wrist height difference --- stretch_demos/nodes/grasp_object | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/stretch_demos/nodes/grasp_object b/stretch_demos/nodes/grasp_object index abfc3a5..467f2fa 100755 --- a/stretch_demos/nodes/grasp_object +++ b/stretch_demos/nodes/grasp_object @@ -103,7 +103,7 @@ class GraspObjectNode(hm.HelloNode): self.stow_the_robot() # 2. Scan surface and find grasp target - self.look_at_surface(scan_time_s = 3.0) + self.look_at_surface(scan_time_s = 4.0) grasp_target = self.manipulation_view.get_grasp_target(self.tf2_buffer) if grasp_target is None: return TriggerResponse( @@ -113,6 +113,8 @@ class GraspObjectNode(hm.HelloNode): # 3. Move to pregrasp pose pregrasp_lift_m = self.manipulation_view.get_pregrasp_lift(grasp_target, self.tf2_buffer) + if self.tool == "tool_stretch_dex_wrist": + pregrasp_lift_m += 0.02 if (self.lift_position is None): return TriggerResponse( success=False,