Closed hello-amal closed 2 months ago
@hello-cpaxton This is ready for a review of the functionality (move_to_pregrasp.py
, stretch_ik_control.py
). I'll be working on the UX this week.
@hello-amal jFYI, I tried running this branch and saw the following errors. You may need to add the constants
and helpers
python packages as ROS deps in package.xml. Or they can be added here.
Thanks for surfacing that @hello-binit . I was able to recreate it when rebuilding from scratch, and the latest commit should address it -- try it out when you get a chance.
Thanks for the comments @hello-cpaxton ! I addressed them and cleaned up th code. @hello-vinitha , you can review it now when you get a chance. This has been thoroughly tested on the Stretch 3 (with the dex wrist and with the tablet), not yet on earlier configurations.
@hello-amal I tested this PR on a Stretch 2 with the upgraded teleop kit and dex wrist. The arm collides with the base when the (horizontal) pre-grasp z position is below the base.
Description
This PR implements a feature where the user is able to click a point on the Realsense stream, and if the point is within the robot's reach, it will align with the point with either a horizontal or vertical gripper (user-specified). The aim of this feature is to prevent the iterative and time-consuming movements required for an operator to properly align the gripper with an object to grasp it.
Upgrade Info
See README.md for information on installing the additional requirements and generating the specialized URDF.
Testing procedure
Before opening a pull request
From the top-level of this repository, run:
pre-commit run --all-files
To merge
Squash & Merge