Further extension of the module

robotology / cardinal-points-grasp

Simple superquadric-based grasping pose generator for iCub

GNU General Public License v2.0

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Further extension of the module #15

Closed jchevrie closed 5 years ago

jchevrie commented 5 years ago

add configurable parameters related to the object size for grasping filtering
add a way to stop in the middle of a grasp request
add the possibility to grasp an object given a 3d position instead of a name

Some questions:

is it possible to call the gaze controller by giving it a 3d position instead of an object name?
is it possible to stop in the middle of the grasping process performed by action-gateway?

pattacini commented 5 years ago

@jchevrie

is it possible to call the gaze controller by giving it a 3d position instead of an object name?

is it possible to stop in the middle of the grasping process performed by action-gateway?

The first is done in https://github.com/robotology/r1-grasping/commit/dea407628493befdcec9e838a1bf294c715f96ec, whereas I'd need some time to work out the second.

For looking at a 3D point:

>> yarp rpc /action-gateway/cmd:io
[look] ("cartesian" x y z)

For looking at a 2D pixel:

>> yarp rpc /action-gateway/cmd:io
[look] ("depth" u v)

Actually, "depth" is only a placeholder (must be different from "cartesian"); [look] is a Vocab.

pattacini commented 5 years ago

@jchevrie in https://github.com/robotology/r1-grasping/commit/6633324c8e35ce8bbe99b794d4f9cf4ed719712d you'll find the implementation of the stop motors as inherited from IOL with iCub.

The new port /action-gateway/motor_stop:rpc can receive the two following commands:

interrupt to yield an immediate stop of any ongoing Cartesian movement.
reinstate to enable the movements again and let R1 go home.

fbottarel commented 5 years ago

It looks like the changes all make sense. However, I will wait for an actual test on the robot before merging in master... @jchevrie let me know when you do (I can give you a hand if needed of course).

pattacini commented 5 years ago

Please, make sure that the test will cover both iCub and R1.

jchevrie commented 5 years ago

Testing done on iCub. Works fine without iolReachingCalibration.

Still need testing and tuning on R1.

fbottarel commented 5 years ago

This pull request has been open for a couple of months now. Shall we finish whatever is left to do and merge it?