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Baxter rotates its wrist to pick an object in tote (Beta) #2658

Closed pazeshun closed 6 years ago

pazeshun commented 6 years ago

From https://github.com/jsk-ros-pkg/jsk_recognition/pull/2315#pullrequestreview-143102575

@wkentaro Sorry for your trouble. In current ARC program, gripper yaw angle is set in the following situation. Otherwise, IK is solved with :rotation-axis :z.

force_to_flip_z_axis: false will effect the latter. Is your trouble in pinch grasp?

pazeshun commented 6 years ago

Even in pinch, robot tries to minimize yaw angle by https://github.com/start-jsk/jsk_apc/blob/master/jsk_arc2017_baxter/euslisp/lib/arc-interface.l#L490-L493

wkentaro commented 6 years ago

Sorry, maybe it was an expected behavior.

The issue I was thinking about was in suction grasp. The robot rotated the wrist 180 degrees in the z-axis to grasp an object from the vertical direction. And I thought it can be 0 degree in such situation.

But with the two fingers we should avoid the wall of the tote, so current behavior seems correct. See 00:09 in https://drive.google.com/drive/u/1/folders/1r0CO3jI-nOAsym1a1I7O53Mc6a_PKKvK, I expected the robot does not rotate the wrist at that time. However, the table top is located near the wall so rotating the wrist seems a correct behavior to avoid the collision of fingers with the tote wall.

pazeshun commented 6 years ago

I understand what is happening. You can change range of near wall detection https://github.com/start-jsk/jsk_apc/blob/master/jsk_arc2017_baxter/euslisp/lib/arc-interface.l#L477

wkentaro commented 6 years ago

I see. Thanks.

2018年8月3日(金) 22:39 Shun Hasegawa notifications@github.com:

I understand what is happening. You can change range of near wall detection

https://github.com/start-jsk/jsk_apc/blob/master/jsk_arc2017_baxter/euslisp/lib/arc-interface.l#L477

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