From b767e359e96add6363a849136851ab055d40594b Mon Sep 17 00:00:00 2001 From: Robert Haschke Date: Thu, 22 Feb 2018 21:16:43 +0100 Subject: [PATCH] GenerateGraspPose: require pregrasp pose --- core/src/stages/generate_grasp_pose.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/core/src/stages/generate_grasp_pose.cpp b/core/src/stages/generate_grasp_pose.cpp index b0124d43..53582637 100644 --- a/core/src/stages/generate_grasp_pose.cpp +++ b/core/src/stages/generate_grasp_pose.cpp @@ -105,9 +105,7 @@ bool GenerateGraspPose::compute(){ robot_state::RobotState &robot_state = scene_->getCurrentStateNonConst(); const std::string& eef_named_pose = props.get("eef_named_pose"); - if(!eef_named_pose.empty()){ - robot_state.setToDefaultValues(jmg , eef_named_pose); - } + robot_state.setToDefaultValues(jmg , eef_named_pose); geometry_msgs::TransformStamped tool2grasp_msg = props.get("tool_to_grasp_tf"); const std::string &link_name = jmg ->getEndEffectorParentGroup().second;