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Add pinching with gripper-v6 #2203
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Remaining TODOs
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My IdeaTry cylindrical pinching after suction grasp fails Main ChangesIn
In state machine:
Stow state machine: MoviesStow: https://drive.google.com/open?id=0BxxBA3J-CunGeF9HdnE2b05jQmM Current Problems |
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Close #2111 |
@@ -344,42 +366,21 @@ | |||
(setq obj-box-z-length (z-of-cube (send self :bbox->cube obj-box))) | |||
(setq obj-pos (v+ obj-pos (float-vector 0 0 (/ obj-box-z-length 2)))) | |||
obj-pos)) | |||
(:try-to-pick-object | |||
(:try-to-pick-object-v4 |
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why did you put -v4
?
Your gripper is -v6
, right?
It is easier to understand to remain :try-to-pick-object
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I prefer :try-to-pick-object
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:try-to-pick-object-v4
is for current left hand.
This method is almost the same as :try-to-pick-object
before #2155
:try-to-suction-object
and :try-to-pinch-object
are for gripper-v6 on right hand.
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But if you think another name is good, I'll follow you.
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I think ::try-to-pick-object
is common method for both arm and you should not remove it.
Also it should be meta method for :try-to-pinch-object
and try-to-suction-object
.
try to be like
pick-object-in-bin
or pick-object-in-tote
-> pick-object-with-movable-region
-> :try-to-pick-object
-> try-to-suction-object
or try-to-pinch-object
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なるほど、
:try-to-pick-object -> :try-to-suction-object-v4
-> :try-to-suction-object
-> :try-to-pinch-object
ですかね
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こうするメリットを教えていただけると嬉しいです。
こうするとすると、:try-to-pick-objectの中身を見ると、grasp-styleの値によって:try-to-pinch-objectと:try-to-suction-objectが呼び分けられている感じにすればよいでしょうか。
上流が:pick-object
なので:try-to-pick-object
をメタなmethodとして残しておいて欲しいです。
そのほうがわかりやすくかつ:pick-object-with-movable-region
の肥大化を防ぐためです。
:try-to-suction-object
は最初にif (eq arm :larm)
を一つ追加するだけだと思います。
もしくは:try-to-suction-object
をメタなmethodとして
(send *ri* :try-to-suction-object :larm)
-> (send *ri* :try-to-suction-object-with-gripper-v2 :larm)
(send *ri* :try-to-suction-object :rarm)
-> (send *ri* :try-to-suction-object-with-gripper-v6 :rarm)
とするのはどうでしょう?
あと左手のgripperは僕の理解ではv2
だと思うのですが違うのですか?
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もしくは:try-to-suction-objectをメタなmethodとして
(send ri :try-to-suction-object :larm)
-> (send ri :try-to-suction-object-with-gripper-v2 :larm)(send ri :try-to-suction-object :rarm)
-> (send ri :try-to-suction-object-with-gripper-v6 :rarm)
とするのはどうでしょう?
こっちの方が分かりやすい気がしたので、こっちの方向で修正します。
左手が変わった時には、:try-to-suction-object-with-gripper-v4
を消して:try-to-suction-object-with-gripper-v6
->:try-to-suction-object
という感じですね。
あと左手のgripperは僕の理解ではv2だと思うのですが違うのですか?
すみません、これはv4でおねがいします。
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(:try-to-suction-object (arm)
(if (eq arm :larm)
(send self :try-to-suction-object-with-gripper-v4 arm)
(send self :try-to-suction-object-with-gripper-v6 arm)))
みたいな感じで左手もv6
になったらif
を消すか置き換えるかでお願いします。
(個人的には置き換えないほうがv7
, v8
のためになるかなと思います)
gripperを昔のものを使いたいこともあるとおもうので(主にぼく):try-to-suction-object-with-gripper-v4
は消さなくてもいいと思いますが
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直しました
@@ -366,7 +361,17 @@ | |||
(setq obj-box-z-length (z-of-cube (send self :bbox->cube obj-box))) | |||
(setq obj-pos (v+ obj-pos (float-vector 0 0 (/ obj-box-z-length 2)))) | |||
obj-pos)) | |||
(:try-to-pick-object-v4 | |||
(:try-to-pick-object | |||
(arm obj-pos pinch-yaw &key (offset #f(0 0 0)) (grasp-style :suction)) |
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can you modify to pinch-yaw as a key
arg?
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IMO, pinch-yaw is necessary for pinching as obj-pos, so we should remain this.
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Sorry, my comment above is for try-to-pinch-object.
I'll fix pinch-yaw of try-to-pick-object
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Fixed
Tested in real robot with #2216 |
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But I found that moveit motion plan failed while pinching:
I think this is because of collision between gripper base and fingers. |
Includes #2216 |
Close #2213 |
Movie was updated |
Close #2212 |
@wkentaro Please merge this |
From #2160