fix

Author: Nikhil-Singhal-06

examples/example_moveit/example_moveit.osc

@@ -6,7 +6,7 @@ scenario example_moveit:
     timeout(60s)
     manipulator: arm with:
         keep(it.arm_joints == ['panda_joint1','panda_joint2','panda_joint3','panda_joint4','panda_joint5','panda_joint6','panda_joint7'])
-        keep(it.gripper_joints == ['panda_finger_joint1'])
+        keep(it.gripper_joints == ['panda_finger_joint1','panda_finger_joint2'])
         keep(it.arm_group == 'panda_arm')
         keep(it.gripper_group == 'hand')
         keep(it.end_effector == 'panda_hand')
@@ -26,5 +26,10 @@ scenario example_moveit:
             manipulator.move_to_pose(
                 goal_pose: ['0.25', '0.0', '1.0', '0.0', '0.0', '0.0', '1.0']
             )
+        close_gripper: serial:
+            manipulator.move_to_joint_pose(
+                goal_pose: ['0.0'],
+                move_group: move_group_type!gripper
+            )
         wait elapsed(1s)
         emit end

libs/scenario_execution_moveit/scenario_execution_moveit/lib_osc/moveit.osc

@@ -20,7 +20,7 @@ action arm.move_to_joint_pose:
     move_group: move_group_type
     plan_only: bool = false
     replan: bool = false
-    tolerance: float = 0.1
+    tolerance: float = 0.001
     max_velocity_scaling_factor: float = 0.1
     namespace_override: string = ''      # if set, it's used as namespace (instead of the associated actor's name)
     action_topic: string = 'move_action' # Name of action
@@ -31,7 +31,7 @@ action arm.move_to_pose:
     goal_pose: list of string         # end effector pose to move to [x, y, z, quatx, quaty, quatz, w]
     plan_only: bool = false
     replan: bool = false
-    tolerance: float = 0.1
+    tolerance: float = 0.001
     max_velocity_scaling_factor: float = 0.1
     namespace_override: string = ''      # if set, it's used as namespace (instead of the associated actor's name)
     action_topic: string = 'move_action' # Name of action