Closed fmessmer closed 7 years ago
@ipa-rmb @ipa-rmb-pz
I added a show_grasps_rviz
action_server that uses rviz for visualization of the grasps - in addition to show_grasps_or
that used OpenRAVE...beside querying the grasps you can now also visualize the grasps without having OpenRAVE installed...this should significantly help debugging the grasptables which are passed to cob_pick_place_action
and MoveIt!
It might not be perfect yet, but it already shows a few issues (see the TODOs in the server) that might be the problem why MoveIt! is unable to find a plan for picking up the object:
gripper_1_joint
vs. gripper_left_1_joint
Still, if you continue using this tools...it should be of significant help as you do not need to install OpenRAVE at all!
I fixed the handling of mimic joints and the quaternion normalization couldn't leave it like this....I was too curious myself...:stuck_out_tongue_winking_eye:
now you clearly see that the problem with grasping with the sdhx is the grasp_poses...this can easily be fixed by modifying the csv-files!
sdh grasptables look fine:
By the way, you run the visualization like so:
roslaunch cob_grasp_generation show_grasp_rviz.launch gripper:=sdh
(or sdhx
)rosrun cob_grasp_generation show_grasps_rviz_client.py
(then enter object_name and gripper_type)Awesome, thanks for looking into this. I am looking forward to see this in operation by my student.
@ipa-rmb @ipa-rmb-pz did you do any further tests/enhancements with/ontopof this? what's the current status?
@ipa-bfb @ipa-aep FYI
Sorry for the delay. I have just seen the Email, because I only work at Thursday and Friday. Until now i haven't tried to run it. because there was a Demo last month, so i needed to prepare for it. since this month i will begin to try it. i have already learned something about 'Moveit!'.
have a wonderful day! ^_^ Zhiqiang
From: Felix Messmer [notifications@github.com] Sent: Monday, September 04, 2017 3:10 PM To: ipa320/cob_manipulation Cc: Pu, Zhiqiang; Mention Subject: Re: [ipa320/cob_manipulation] separate openrave independent part query_grasp (#126)
@ipa-rmbhttps://github.com/ipa-rmb @ipa-rmb-pzhttps://github.com/ipa-rmb-pz did you do any further tests/enhancements with/ontopof this? what's the current status?
@ipa-bfbhttps://github.com/ipa-bfb @ipa-aephttps://github.com/ipa-aep FYI
— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHubhttps://github.com/ipa320/cob_manipulation/pull/126#issuecomment-326959959, or mute the threadhttps://github.com/notifications/unsubscribe-auth/AclzydyQl1pzNyRPh4xqqpJA7abC4zoJks5se_begaJpZM4O0lix.
part of https://github.com/ipa320/cob_manipulation/issues/125
@ipa-rmb @ipa-rmb-pz FYI