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