Add arm.gripper_position_detector.min_position to compare

Author: GustavoDCC

robot_smach_states/src/robot_smach_states/manipulation/active_grasp_detector.py

@@ -10,11 +10,12 @@
 from robot_smach_states.util.designators.arm import ArmDesignator
 
 
+
 class ActiveGraspDetector(smach.State):
     REQUIRED_ARM_PROPERTIES = {"required_gripper_types": [GripperTypes.GRASPING], }
 
     def __init__(self, robot: Robot, arm_designator: ArmDesignator, threshold_difference: float = 0.075,
-                 minimum_position: float = -0.75, max_torque: float = 0.15) -> None:
+                  max_torque: float = 0.15) -> None:
         """
         State for detecting whether the robot is holding something using the gripper position.
 
@@ -34,9 +35,7 @@ def __init__(self, robot: Robot, arm_designator: ArmDesignator, threshold_differ
         self.robot = robot
 
         self.arm_designator = arm_designator
-
         self.threshold_difference = threshold_difference
-        self.minimum_position = minimum_position
         self.max_torque = max_torque
 
     def execute(self, userdata=None) -> str:
@@ -51,7 +50,7 @@ def execute(self, userdata=None) -> str:
         if first_position is None:
             rospy.logerr("Cannot retrieve first position")
             return 'failed'
-        elif first_position < self.minimum_position:
+        elif first_position < arm.gripper_position_detector.min_position:
             rospy.logdebug("First position is {}".format(first_position))
             return 'cannot_determine'