Is it possible to modify the times for grasp/pregrasp movements in MoveIt?
I have set up a robot for performing grasping using the moveit_python PickPlaceInterface (I'm working with ROS Kinetic, Ubuntu 16). So far everything is working fine, except for the fact that the grasp posture (when the fingers close in order to grasp the object) doesn't have time to finish its movement. Before the fingers have time to grasp the object, the arm starts the post-grasp retreat movement, moving away from the object before it is properly grasped.
For now, I've solved the issue making the fingers close faster (by modifying the joint velocities) so that they have time to grasp the object before the arm starts moving away. But this behavior doesn't make any sense to me. The arm should wait until the fingers finish their movement in order to start retreating. Unfortunately, I haven't found any way to control/modify this behavior.
Is there any way in which I can modify the trajectory times, so that the arm waits until the grasping movement finishes?
