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tue-robotics-graveyard / robot_smach_states

A library of smach states and state machine using the robot_skills API
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Why don't we use the carrying pose as reset pose? #53

Closed reinzor closed 7 years ago

reinzor commented 8 years ago

@MaxBaeten @jlunenburg

It always takes much time to go up and prepare for a grasp, what is the downside of making the reset configuration the carying pose? Except for looks maybe?

MaxBaeten commented 8 years ago

Is that really a considerable amount of time? And those movements can't they be executed in parallel to looking for the to be grasped object?

Hardwarewise there aren't really objections to this besides that it might not look that nice while driving.

reinzor commented 8 years ago

Looking for the object is really fast. The movements are taking most of the time. It is just a little bit weird that we always go back to the reset position and then to the same sequence again. We can look at this Saturday :).

-Rein

On Wed, Mar 16, 2016 at 2:53 PM, Max Baeten notifications@github.com wrote:

Is that really a considerable amount of time? And those movements can't they be executed in parallel to looking for the to be grasped object?

Hardwarewise there aren't really objections to this besides that it might not look that nice while driving.

— You are receiving this because you authored the thread. Reply to this email directly or view it on GitHub https://github.com/tue-robotics/robot_smach_states/issues/53#issuecomment-197341883

MaxBaeten commented 8 years ago

That is true, best is to have the arm in reset position while driving but already going to grasp mode much earlier. But I am still wondering why it takes so long. Is it actually moving the arm all that time or does is also take a long time before the arm starts moving. i.o.w. would increasing the velocity of the arm help (Don't think there is a lot to gain there, at least safely :) )

reinzor commented 8 years ago

We will discuss saturday :). But yes, it takes long :/

-Rein

On Wed, Mar 16, 2016 at 4:14 PM, Max Baeten notifications@github.com wrote:

That is true, best is to have the arm in reset position while driving but already going to grasp mode much earlier. But I am still wondering why it takes so long. Is it actually moving the arm all that time or does is also take a long time before the arm starts moving. i.o.w. would increasing the velocity of the arm help (Don't think there is a lot to gain there, at least safely :) )

— You are receiving this because you authored the thread. Reply to this email directly or view it on GitHub https://github.com/tue-robotics/robot_smach_states/issues/53#issuecomment-197376836

Rayman commented 8 years ago

This is an option for tue-robotics/tue_robocup#147