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MoveIt path constraints for pinching #2211

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pazeshun opened this issue Jul 4, 2017 · 8 comments
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MoveIt path constraints for pinching #2211

pazeshun opened this issue Jul 4, 2017 · 8 comments
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@knorth55
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bug issue/priority/low
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3.3.0 (07/11)

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@pazeshun
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pazeshun commented Jul 4, 2017

Currently I have no idea about this.
If I have problem in #2203 , I'll report in details.
@pazeshun pazeshun mentioned this issue Jul 4, 2017
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knorth55 commented Jul 4, 2017

Can you explain more?

@pazeshun
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pazeshun commented Jul 4, 2017

gripper-v6で挟み込み把持すると、吸着の時のように常に方向を固定できる座標系がなくなってしまうので、どうpathを拘束すればいいのか考えていましたが、拘束なしでやってみたところ、今のところ腕を振り回すことなく動いているので、とりあえず大丈夫です。

@pazeshun pazeshun closed this as completed Jul 4, 2017
@pazeshun pazeshun reopened this Jul 5, 2017
@pazeshun pazeshun added the bug label Jul 5, 2017
@pazeshun
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pazeshun commented Jul 5, 2017

やっぱり、腕を振り回してしまいました。

@k-okada
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k-okada commented Jul 5, 2017 via email

@knorth55
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knorth55 commented Jul 5, 2017

plannerはRRTです
constraints1は特に何も指定していないです。
path-constraintsのorientation-constraintsをうまく設定しなければならないはずです。
物をもったあとできるだけ物体の姿勢を変更せずに運搬することが目的です

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knorth55 commented Jul 9, 2017 •
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we can solve path with right_gripper_palm_endpoint, but it requires 50 seconds to execute.

I solve this issue with jsk-ros-pkg/jsk_pr2eus#310

@pazeshun pazeshun mentioned this issue Jul 9, 2017
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I add FIXME and disable moveit in placing motion. #2251

@wkentaro wkentaro modified the milestones: 3.3.0 (07/11), untargeted Jul 13, 2017
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Please reopen when you need this again.

@wkentaro wkentaro modified the milestones: 3.3.0 (07/11), untargeted Jul 13, 2017
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@k-okada @wkentaro @knorth55 @pazeshun @YutoUchimi