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[baxtereus] add wait key in :start-grasp #768

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merged 1 commit into from Apr 25, 2017

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commented Apr 24, 2017

add :wait key as :stop-grasp

@knorth55 knorth55 requested a review from pazeshun Apr 24, 2017

@knorth55 knorth55 changed the title [baxtereus] add wait key in start-grasp [baxtereus] add wait key in :start-grasp Apr 24, 2017

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commented Apr 25, 2017

@k-okada k-okada merged commit b6ddf73 into jsk-ros-pkg:master Apr 25, 2017

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@knorth55 knorth55 deleted the knorth55:add-wait-start-grasp branch Apr 25, 2017

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commented Apr 25, 2017

default value of :waitshould be t?

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commented Apr 25, 2017

Why stop-grasp only has :wait key word and default value is nil?
https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/0.3.10/pr2eus/pr2-interface.l#L301

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commented Apr 27, 2017

Why stop-grasp only has :wait key word and default value is nil?

not sure, but maybe

(send *ri* :start-grasp)
(send *ri* :anlge-vector #f(...))

we have to wait until the robot actually grasp, when move arm to next position, but

(send *ri* :stop-grasp)
(send *ri* :anlge-vector #f(...))

the robot drop object just ofter :stop-grasp has called, and we can move arm, while the robot is trying to move gripper to initial position. May be because of speed up???

So we need to fix #769 ???

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commented Apr 27, 2017

You mean :stop-grasp method should have default :wait value t?
Now I think default :wait value should be t in all gripper method.

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