search

gabeabrams / robotmanipulation

Repository for Robot Manipulation (CS 5752, Cornell University)
www.gabeabrams.com
0 stars 0 forks source link

Integrate move_planner, action_handler, and controller #22

Closed gabeabrams closed 9 years ago

sarahangle commented 9 years ago

Note: fallback has to allow the second arm to drop its block and pull away as the first action.

Also, can the one arm we always use and the arm that acts first be the right one?

gabeabrams commented 9 years ago

Sure :) sounds good. I'll implement that!

On Sat, Sep 19, 2015 at 11:20 AM, sarahangle notifications@github.com wrote:

Note: fallback has to allow the second arm to drop its block and pull away as the first action.

Also, can the one arm we always use and the arm that acts first be the right one?

— Reply to this email directly or view it on GitHub https://github.com/gabeabrams/robotmanipulation/issues/22#issuecomment-141679226 .

gabeabrams commented 9 years ago

Actually, fallback will have to be given some information in that case. move_planner does not take state of gripper into account.

On Sat, Sep 19, 2015 at 11:23 AM, Gabriel Abrams gabeabrams@gmail.com wrote:

Sure :) sounds good. I'll implement that!

On Sat, Sep 19, 2015 at 11:20 AM, sarahangle notifications@github.com wrote:

Note: fallback has to allow the second arm to drop its block and pull away as the first action.

Also, can the one arm we always use and the arm that acts first be the right one?

— Reply to this email directly or view it on GitHub https://github.com/gabeabrams/robotmanipulation/issues/22#issuecomment-141679226 .

sarahangle commented 9 years ago

What info does it need?

Also, can we change the table areas to -? Like 0 is rand, -1 is randleft, -2 is randright, -3 is home?

sarahangle commented 9 years ago

Better yet, can we have no target type? Just BlockIDs with >0 being blocks and <1 being locations?

sarahangle commented 9 years ago

integrated move_planner and controller, now just waiting on action_handler function so that move_planner outputs a list of service calls!

gabeabrams commented 9 years ago

I am using blockID = 1 for open/close gripper. My functions should be good to integrate. I can't test them without integration though (I can't run the code because it has ROS dependencies)