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Gripper turns over in place object #2213

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pazeshun opened this issue Jul 4, 2017 · 6 comments
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Gripper turns over in place object #2213

pazeshun opened this issue Jul 4, 2017 · 6 comments
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bug issue/priority/high
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3.2.0 (07/04)

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pazeshun commented Jul 4, 2017 •
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Please see first picking of https://drive.google.com/open?id=0BxxBA3J-CunGUnlLM0g2WjZFNVk
@pazeshun pazeshun added the bug label Jul 4, 2017
@pazeshun pazeshun mentioned this issue Jul 4, 2017
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pazeshun commented Jul 4, 2017 

(send *ti* :move-arm-body->bin-overlook-pose :rarm :c)

screenshot from 2017-07-04 19 11 31
->

(send *ti* :ik->cardboard-center :rarm :a :offset #f(0 0 200) :rotation-axis :z :use-gripper t)

screenshot from 2017-07-04 19 11 14

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pazeshun commented Jul 4, 2017

Perhaps we should add :additional-check to cardboard IK

@pazeshun pazeshun self-assigned this Jul 4, 2017
@pazeshun pazeshun added this to the 3.2.0 (07/04) milestone Jul 4, 2017
@pazeshun pazeshun modified the milestones: 3.3.0 (07/11), 3.2.0 (07/04) Jul 4, 2017
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pazeshun commented Jul 5, 2017

Fixed in #2216

@pazeshun pazeshun modified the milestones: 3.2.0 (07/04), 3.3.0 (07/11) Jul 5, 2017
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wkentaro commented Jul 5, 2017 •
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Can I close this? Or you postpone this to 3.3?

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wkentaro commented Jul 5, 2017

Please reopen unless it is fixed.

@wkentaro wkentaro closed this as completed Jul 5, 2017
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pazeshun commented Jul 5, 2017

Sorry. This is fixed in #2203

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Don't turn gripper over in ik->cardboard-center pazeshun/jsk_apc
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@wkentaro @pazeshun