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separate openrave independent part query_grasp #126

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merged 10 commits into from Sep 8, 2017

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commented Aug 11, 2017

part of #125

@ipa-rmb @ipa-rmb-pz FYI

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commented Aug 12, 2017

@ipa-rmb @ipa-rmb-pz
I added a show_grasps_rviz action_server that uses rviz for visualization of the grasps - in addition to show_grasps_or that used OpenRAVE...beside querying the grasps you can now also visualize the grasps without having OpenRAVE installed...this should significantly help debugging the grasptables which are passed to cob_pick_place_action and MoveIt!

It might not be perfect yet, but it already shows a few issues (see the TODOs in the server) that might be the problem why MoveIt! is unable to find a plan for picking up the object:

  • it complains about invalid quaternion for all grasp_poses of the sdhx...
  • there again is the issue with "side-encoded" joint names, i.e. gripper_1_joint vs. gripper_left_1_joint
  • currently you cannot view the grasps for the sdh due to the mimic joint

Still, if you continue using this tools...it should be of significant help as you do not need to install OpenRAVE at all!

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commented Aug 12, 2017

I fixed the handling of mimic joints and the quaternion normalization
couldn't leave it like this....I was too curious myself...😜

now you clearly see that the problem with grasping with the sdhx is the grasp_poses...this can easily be fixed by modifying the csv-files!

grasp_pose_sdhx_pringles

sdh grasptables look fine:
grasp_pose_sdh_hotpot

By the way, you run the visualization like so:

  • roslaunch cob_grasp_generation show_grasp_rviz.launch gripper:=sdh (or sdhx)
  • rosrun cob_grasp_generation show_grasps_rviz_client.py (then enter object_name and gripper_type)
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commented Aug 14, 2017

Awesome, thanks for looking into this. I am looking forward to see this in operation by my student.

@@ -1,123 +0,0 @@
#!/usr/bin/env python

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ipa-rmb Aug 14, 2017

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Why did you remove this file? Was it obsolete?

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fmessmer Aug 14, 2017

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nothing is lost...i created separate nodes for each action...

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ipa-rmb Aug 14, 2017

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Aha, excellent. Thanks.

@fmessmer fmessmer force-pushed the fmessmer:revive_pick_place branch from 37fca91 to e7dd5ac Sep 4, 2017

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commented Sep 4, 2017

@ipa-rmb @ipa-rmb-pz did you do any further tests/enhancements with/ontopof this?
what's the current status?

@ipa-bfb @ipa-aep FYI

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commented Sep 7, 2017

@fmessmer fmessmer merged commit 12a4d47 into ipa320:indigo_dev Sep 8, 2017

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@fmessmer fmessmer deleted the fmessmer:revive_pick_place branch Sep 8, 2017

@fmessmer fmessmer referenced this pull request Oct 16, 2017

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support for raw3-6 #129

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