[place_action/clients] Setting 'release_on_impact' in the place and t…

…hrow clients

The field is set to true and false respectively (we want to detect
surface impact while placing, but we don't want to wait for impact while
throwing an object)

mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/scripts/place_client

@@ -75,6 +75,10 @@ class PlaceClient(ActionClientBase):
                 self.robot_name = param.value
 
         goal.pose = self.get_placing_pose()
+
+        # we want to place the object by detecting impact with the placing surface
+        goal.release_on_impact = True
+
         return goal
 
     def get_placing_pose(self):

mdr_planning/mdr_actions/mdr_manipulation_actions/mdr_place_action/ros/scripts/throw_client

@@ -72,6 +72,10 @@ class ThrowClient(ActionClientBase):
                 self.robot_name = param.value
 
         goal.pose = self.get_throwing_pose()
+
+        # we don't want to wait for impact when throwing the object
+        goal.release_on_impact = False
+
         return goal
 
     def get_throwing_pose(self):