From 111f7c01f92f7392ecdfeb18580b9a232bd807ef Mon Sep 17 00:00:00 2001 From: Vanessa Hassouna Date: Sun, 8 Dec 2024 12:49:51 +0100 Subject: [PATCH] [PickUpAction] open gripper before move to the prepose --- src/pycram/designators/action_designator.py | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/pycram/designators/action_designator.py b/src/pycram/designators/action_designator.py index 7f6db51c7..6e7b71feb 100644 --- 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)