From 28f47209dbb3f544200fa53641e72420a5d61165 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <sebas.a.castro@gmail.com> Date: Fri, 3 May 2024 16:19:52 -0400 Subject: [PATCH 1/2] Change max distance in Connect stages in MTC tutorial --- .../src/mtc_node.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp index c214b11617..c2ca5e654d 100644 --- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp +++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/src/mtc_node.cpp @@ -138,6 +138,7 @@ mtc::Task MTCTaskNode::createTask() mtc::stages::Connect::GroupPlannerVector{ { arm_group_name, sampling_planner } }); // clang-format on stage_move_to_pick->setTimeout(5.0); + stage_move_to_pick->setMaxDistance(1e-2); stage_move_to_pick->properties().configureInitFrom(mtc::Stage::PARENT); task.add(std::move(stage_move_to_pick)); @@ -263,6 +264,7 @@ mtc::Task MTCTaskNode::createTask() { hand_group_name, interpolation_planner } }); // clang-format on stage_move_to_place->setTimeout(5.0); + stage_move_to_place->setMaxDistance(1e-2); stage_move_to_place->properties().configureInitFrom(mtc::Stage::PARENT); task.add(std::move(stage_move_to_place)); } From 2a686c63d007b4efb64e58a0a6f870788ed19ac0 Mon Sep 17 00:00:00 2001 From: Sebastian Castro <sebas.a.castro@gmail.com> Date: Fri, 3 May 2024 16:21:51 -0400 Subject: [PATCH 2/2] Update docs as well --- .../pick_and_place_with_moveit_task_constructor.rst | 2 ++ 1 file changed, 2 insertions(+) diff --git a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst index af344c9250..0335438538 100644 --- a/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst +++ b/doc/tutorials/pick_and_place_with_moveit_task_constructor/pick_and_place_with_moveit_task_constructor.rst @@ -618,6 +618,7 @@ We need to move the arm to a position where we can pick up our object. This is d "move to pick", mtc::stages::Connect::GroupPlannerVector{ { arm_group_name, sampling_planner } }); stage_move_to_pick->setTimeout(5.0); + stage_move_to_pick->setMaxDistance(1e-2); stage_move_to_pick->properties().configureInitFrom(mtc::Stage::PARENT); task.add(std::move(stage_move_to_pick)); @@ -794,6 +795,7 @@ Now that the stages that define the pick are complete, we move on to defining th mtc::stages::Connect::GroupPlannerVector{ { arm_group_name, sampling_planner }, { hand_group_name, interpolation_planner } }); stage_move_to_place->setTimeout(5.0); + stage_move_to_place->setMaxDistance(1e-2); stage_move_to_place->properties().configureInitFrom(mtc::Stage::PARENT); task.add(std::move(stage_move_to_place)); }