Fix pick+place: connect should plan both, arm and hand motion
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This commit is contained in:
Robert Haschke 2025-04-29 14:23:31 +02:00
parent a0da41a4aa
commit 5a0059dc83

View File

@ -220,8 +220,9 @@ bool PickPlaceTask::init() {
***************************************************/
// Connect initial open-hand state with pre-grasp pose defined in the following
{
auto stage = std::make_unique<stages::Connect>(
"move to pick", stages::Connect::GroupPlannerVector{ { arm_group_name_, sampling_planner } });
stages::Connect::GroupPlannerVector planners = { { arm_group_name_, sampling_planner },
{ hand_group_name_, sampling_planner } };
auto stage = std::make_unique<stages::Connect>("move to pick", planners);
stage->setTimeout(5.0);
stage->properties().configureInitFrom(Stage::PARENT);
t.add(std::move(stage));