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v4r-tuwien / grasping_pipeline

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New statemachine grasp annotator #17

Closed dzimmer999 closed 2 months ago

dzimmer999 commented 3 months ago

Updated the new_statemachine (which uses gdrnet) to use the new grasp_annotator instead of the grasp_checker. The grasp_annotator is approx. faster by a factor of 3. Currently the old grasp_checker is still left in the grasp_annotator commented out in case some error occur for comparison. Additionally, whenever a grasp fails inside grasppose_estmator, instead of aboarding the HSR now grasps the next closest object until all grasp have failed or one was successful. Also added a check if the grasped object is placeable (=inside placement_object of the rosparams) inside robot_control.py.

dzimmer999 commented 2 months ago

Refactoring done. Please review the commit (CheckTopGrasp in robot_control is for the grasping and not the annotating, just happened to be in this merge)