search

start-jsk / jsk_apc

Other
36 stars 35 forks source link

Demo on 2016-05-13/14: Grasping APC2016 objects with New gripper (version 0.4) #1462

Closed wkentaro closed 8 years ago

wkentaro commented 8 years ago

@ban-masa @pazeshun

Time: 14:15 - 14:30

Moved from https://github.com/start-jsk/jsk_apc/issues/1452

pazeshun commented 8 years ago

The method of demo:

# on sheeta
$ roscd jsk_2016_01_baxter_apc
$ git checkout gripper-v2
$ catkin bt
$ roslaunch jsk_2016_01_baxter_apc baxter.launch
$ roslaunch jsk_2016_01_baxter_apc setup_torso.launch
$ ssh doura
$ sudo -s
$ roslaunch jsk_2015_05_baxter_apc setup_head.launch
# on sheeta
$ roslaunch jsk_2016_01_baxter_apc main.launch json:=$(rospack find jsk_2015_05_baxter_apc)/json/layout_12.json
# After this, please select Yes in YesNoButton
pazeshun commented 8 years ago

For now, we can't verify objects in hand. So robot always drops objects after verifying pose. Also, we don't fix dangerous movement of left arm.

wkentaro commented 8 years ago

why not use right only? why not remove verification?

2016年5月13日金曜日、pazeshunnotifications@github.comさんは書きました:

For now, we can't verify objects in hand. So robot always drops objects after verifying pose. Also, we don't fix dangerous movement of left arm.

— You are receiving this because you authored the thread. Reply to this email directly or view it on GitHub https://github.com/start-jsk/jsk_apc/issues/1462#issuecomment-218937394

和田 健太郎 / Kentaro Wada http://wkentaro.com

pazeshun commented 8 years ago

why not use right only?

I want to demonstrate the difference between right and left gripper.

why not remove verification?

Sorry, I had no time to prepare. Today I want to consider how to demonstrate tomorrow.

pazeshun commented 8 years ago

I made new branch for tomorrow demo. https://github.com/pazeshun/jsk_apc/tree/demo-2016-05-13 Changes from gripper-v2 branch:

pazeshun commented 8 years ago

So the method of demo is below:

# on sheeta
$ roscd jsk_2016_01_baxter_apc
$ git checkout pazeshun/demo-2016-05-13
$ catkin bt
$ roslaunch jsk_2016_01_baxter_apc baxter.launch
$ roslaunch jsk_2016_01_baxter_apc setup_torso.launch
$ ssh doura
$ sudo -s
$ roslaunch jsk_2015_05_baxter_apc setup_head.launch
# on sheeta
$ roslaunch jsk_2016_01_baxter_apc main.launch json:=$(rospack find jsk_2015_05_baxter_apc)/json/layout_12.json
# After this, please select Yes in YesNoButton
pazeshun commented 8 years ago

Demo is finished