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In https://github.com/personalrobotics/herbpy/blob/master/src/herbpy/action/blocks.py#L48-L54 we execute PlanToTSR, and then use tsr_chain.contains(ee_pose) in a loop to see which block we moved to. However, TsrChain::contains uses a tolerance EPSILON = 0.001 (meant to avoid precision errors), and we will never be that exactly on the planned target, we should find another way to find which block TSR we actually grabbed.
The text was updated successfully, but these errors were encountered:
In https://github.com/personalrobotics/herbpy/blob/master/src/herbpy/action/blocks.py#L48-L54 we execute
PlanToTSR
, and then usetsr_chain.contains(ee_pose)
in a loop to see which block we moved to. However,TsrChain::contains
uses a toleranceEPSILON = 0.001
(meant to avoid precision errors), and we will never be that exactly on the planned target, we should find another way to find which block TSR we actually grabbed.The text was updated successfully, but these errors were encountered: