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));
       }