Adopt <gripperjoints> tag regarding robot grippers - Githubissues

roboticslab-uc3m / openrave-yarp-plugins

OpenRAVE plugins to interface OpenRAVE with YARP.

https://robots.uc3m.es/openrave-yarp-plugins/

GNU Lesser General Public License v2.1

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Adopt <gripperjoints> tag regarding robot grippers #86

Closed jgvictores closed 4 years ago

jgvictores commented 6 years ago

For https://github.com/roboticslab-uc3m/teo-openrave-models/issues/9 it seems like we should do something with joints/gripperjoints:

https://github.com/rdiankov/openrave/blob/7c5f5e27eec2b2ef10aa63fbc519a998c276f908/src/libopenrave-core/xmlreaders-core.cpp#L2516 we have: (xmlname == "joints")||(xmlname == "gripperjoints")

An alternative hack is to just keep on using manipulator.

jgvictores commented 6 years ago

The test platform will be simulated teo, see XML: https://github.com/roboticslab-uc3m/teo-openrave-models/blob/0efd49e662495f8ca329ac0089fc37243ab7519c/openrave/teo/teo.robot.xml#L76

jgvictores commented 5 years ago

Towards https://github.com/roboticslab-uc3m/teo-main/issues/19:

It turns out <gripperjoints> is not required for what we need As of https://github.com/roboticslab-uc3m/teo-openrave-models/commit/82163a8a6c2fbbc3fae807f253eeaef58030efbf plus new issue https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/97 are the way to go.
Added ref to this issue in "Think about openrave-database-generators" (https://github.com/roboticslab-uc3m/teo-openrave-models/issues/3) in case ever needed.

Closing due to (1).

PeterBowman commented 5 years ago

What is <gripperjoints> meant for? Could we ever need it for some different application?

jgvictores commented 5 years ago

From what I've seen, it's used for OpenRAVE's database generators, e.g. inverse kinematics and grasping. This is why I referenced this issue at https://github.com/roboticslab-uc3m/teo-openrave-models/issues/3 (Think about openrave-database-generators).

jgvictores commented 5 years ago

Reopening, sorry. Not bad to have a specific issue to recover this.

jgvictores commented 4 years ago

It turns out <gripperjoints> is not required for what we need As of roboticslab-uc3m/teo-openrave-models@82163a8 plus new issue https://github.com/roboticslab-uc3m/openrave-yarp-plugins/issues/97 are the way to go.

I confirm the <joints> tag (aka <gripperjoints> afaik) is required for the OpenRAVE grasping module (databases.grasping.GraspingModel(robot, target)) (else chokes on some kind of gripper release). Recovered for TEO at https://github.com/roboticslab-uc3m/teo-openrave-models/commit/083998bfde1d05dcd96b7626da8a8c3bc8edf719