After various tests of grabbing objects from different surfaces we can safely remove the "lifting" part (robot_smach_states/manipulation/grab.py) after it grasped the object and go directly to "retract". Doesn't necessarily improve speed but simplifies the code.
After various tests of grabbing objects from different surfaces we can safely remove the "lifting" part (
robot_smach_states/manipulation/grab.py) after it grasped the object and go directly to "retract". Doesn't necessarily improve speed but simplifies the code.Also added some type hinting