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AndrejOrsula / ign_moveit2_examples

C++ and Python examples of using MoveIt 2 inside Ignition Gazebo simulation environment
BSD 3-Clause "New" or "Revised" License
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No parallel movement of gripper and arm (throwing object example) #28

Open Kaiser1401 opened 3 weeks ago

Kaiser1401 commented 3 weeks ago

Trying to get the throwing example running i realised that there is (no longer?) the possibility to open the gripper while the arm is moving. Essentially not throwing the cube.

The interesting part is, that the planning seems to be delayed. I have not enough insight in Moveit2 yet to figure out exactly where this is coming from unfortunately.

Found while working on Jazzy-Harmonic adaptation ( https://github.com/AndrejOrsula/panda_ign_moveit2/pull/34 https://github.com/AndrejOrsula/ign_moveit2_examples/pull/27 )

AndrejOrsula commented 3 weeks ago

This issue has likely been present in pymoveit2 since Humble.

I have never looked into it deeper, so I am unsure about the origin of this regression. For an application like this, maybe using moveit2_py bindings would be the better approach going forward.