#8 Remove symbolic pose 'interaction', use 'unknown' instead

DFKI-NI / mobipick_labs

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#8 Remove symbolic pose 'interaction', use 'unknown' instead #12

Closed alexander-sung closed 1 year ago

alexander-sung commented 1 year ago

As commented in the code below, the symbolic pose 'interaction' did not correspond to real robot arm poses but was only used for planning. This resulted in bug #8 when validating action execution, so a fix was necessary.

This simple fix solves the bug but results in "unknown" poses being referred to quite often in the action log now.

mintar commented 1 year ago

I've rebased this branch onto the latest noetic branch and tested uplexmo_pick_n_place_demo_node.py in Gazebo. @sebastianstock , if you're also satisfied, feel free to "Squash and merge".

alexander-sung commented 1 year ago

It's okay but you were a bit too fast. Since @mintar quickly added the handover pose, we can of course use it in the handover action's effects. I will add and test it seperately.