Merge pull request cram2#239 from sunava/picku-up-action

[PickUpAction] open gripper before move to the prepose
sunava · Dec 9, 2024 · 51b41d6 · 51b41d6
2 parents f5bffc2 + 111f7c0
commit 51b41d6
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/src/pycram/designators/action_designator.py b/src/pycram/designators/action_designator.py
@@ -298,8 +298,9 @@ def plan(self) -> None:
 
         # Perform the motion with the prepose and open gripper
         World.current_world.add_vis_axis(prepose)
-        MoveTCPMotion(prepose, self.arm, allow_gripper_collision=True).perform()
         MoveGripperMotion(motion=GripperState.OPEN, gripper=self.arm).perform()
+        MoveTCPMotion(prepose, self.arm, allow_gripper_collision=True).perform()
+
 
         # Perform the motion with the adjusted pose -> actual grasp and close gripper
         World.current_world.add_vis_axis(adjusted_oTm)