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gramaziokohler / integral_timber_joints

Robotic Assembled Timber Structures with Integral Timber Joints
MIT License
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Gripper specific pickup frame and config. Stored in GripperAlignedPickupStation #62

Closed yck011522 closed 2 years ago

yck011522 commented 3 years ago

Currently nine_piece_process cannot pass check_state.py

yck011522 commented 3 years ago

So only gripper_aligned pickup station can meaningfully benefit from a saved config.

If the beam is aligned to the pickup station table. Then the pickup configuration is different everytime. If it would be possible to specify a few joint values for creating the IK of those pickup it would be helpful to maintain high repeatability. But the interface to pathplan and get IK will need to change and will be quite complicated.

yck011522 commented 3 years ago

As per discussion with @yijiangh

gripper_tcp_frame_at_pickup and robot_config_at_pickup will be refactored to be stored in the GripperAlignedPickupStation Class. Each tool_id can have its own gripper_tcp_frame_at_pickup and robot_config_at_pickup, if left unset, a default pickup frame is used and the robot config will be set to None (unconstrained)

This will allow each tool that can be used as a Gripper to have a different taught config for pickup.