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Fix pick-place-demo: Correctly set hand group (#205)
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@ -229,7 +229,7 @@ void PickPlaceTask::init() {
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***************************************************/
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***************************************************/
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{
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{
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auto stage = std::make_unique<stages::MoveTo>("close hand", sampling_planner);
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auto stage = std::make_unique<stages::MoveTo>("close hand", sampling_planner);
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stage->properties().property("group").configureInitFrom(Stage::PARENT, hand_group_name_);
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stage->setGroup(hand_group_name_);
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stage->setGoal(hand_close_pose_);
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stage->setGoal(hand_close_pose_);
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grasp->insert(std::move(stage));
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grasp->insert(std::move(stage));
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}
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}
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@ -357,7 +357,7 @@ void PickPlaceTask::init() {
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*****************************************************/
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*****************************************************/
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{
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{
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auto stage = std::make_unique<stages::MoveTo>("open hand", sampling_planner);
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auto stage = std::make_unique<stages::MoveTo>("open hand", sampling_planner);
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stage->properties().property("group").configureInitFrom(Stage::PARENT, hand_group_name_);
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stage->setGroup(hand_group_name_);
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stage->setGoal(hand_open_pose_);
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stage->setGoal(hand_open_pose_);
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place->insert(std::move(stage));
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place->insert(std::move(stage));
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}
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}
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