ec_grasps_example1 - key error [up_speed]

SoMa-Project / ec_grasp_planner

Grasp Planner Based on Environmental Constraint Exploitation

BSD 3-Clause "New" or "Revised" License

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ec_grasps_example1 - key error [up_speed] #2

Closed psotiropoulos closed 6 years ago

psotiropoulos commented 7 years ago

@cerdogan running the example 1 as described (v1.2) returns with an error: _KeyError: 'upspeed'. rosrun ec_grasp_planner planner.py --rviz --robot_base_frame camera_rgb_optical_frame --grasp WallGrasp The default handarm argument is RBOHand2WAM and up_speed is not defined for the wall grasp there.

While running it passing --handarm RBOHand2Kuka all seems connected but I get, what appears to be, a wrong plan (see attached photo).

rviz_screenshot_ec_grasps_example1

cerdogan commented 7 years ago

Hello Panos,

Please follow the instructions only in Section 5.iii (Kuka Arm in Gazebo Simulation with TRIK Controller). In fact, the videos I sent earlier might even be a better demonstration of the commands you want to run.

Regarding this example, this was Section 5.i, correct? I am not sure what the problem is exactly but I think we should first take a look at 5.iii.

psotiropoulos commented 7 years ago

Hi Can,

yes this is 5.1 Planning based on PCD Input. I normally go through all of them. I'll test 5.3 and if there is any problem there I'll open a separate issue.

Panos