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GenerateGraspPose: require pregrasp pose
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@ -105,9 +105,7 @@ bool GenerateGraspPose::compute(){
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robot_state::RobotState &robot_state = scene_->getCurrentStateNonConst();
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const std::string& eef_named_pose = props.get<std::string>("eef_named_pose");
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if(!eef_named_pose.empty()){
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robot_state.setToDefaultValues(jmg , eef_named_pose);
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}
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robot_state.setToDefaultValues(jmg , eef_named_pose);
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geometry_msgs::TransformStamped tool2grasp_msg = props.get<geometry_msgs::TransformStamped>("tool_to_grasp_tf");
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const std::string &link_name = jmg ->getEndEffectorParentGroup().second;
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