From 5f93ab80727cb820e3539fb430ff4c698a6cf500 Mon Sep 17 00:00:00 2001 From: Victor Lopez Date: Thu, 11 Apr 2019 18:54:36 +0200 Subject: [PATCH 1/2] Add pick demo with hey5. Work in progress --- ....yaml => pick_and_place_params_steel.yaml} | 0 .../pick_and_place_params_titanium.yaml | 63 +++++++++++++++++++ tiago_pick_demo/launch/pick_demo.launch | 8 ++- 3 files changed, 68 insertions(+), 3 deletions(-) rename tiago_pick_demo/config/{pick_and_place_params.yaml => pick_and_place_params_steel.yaml} (100%) create mode 100644 tiago_pick_demo/config/pick_and_place_params_titanium.yaml diff --git a/tiago_pick_demo/config/pick_and_place_params.yaml b/tiago_pick_demo/config/pick_and_place_params_steel.yaml similarity index 100% rename from tiago_pick_demo/config/pick_and_place_params.yaml rename to tiago_pick_demo/config/pick_and_place_params_steel.yaml diff --git a/tiago_pick_demo/config/pick_and_place_params_titanium.yaml b/tiago_pick_demo/config/pick_and_place_params_titanium.yaml new file mode 100644 index 00000000..b81d6971 --- /dev/null +++ b/tiago_pick_demo/config/pick_and_place_params_titanium.yaml @@ -0,0 +1,63 @@ +# Desired distance from grasp_postures_frame_id to put the object +# So, the grasping point +grasp_desired_distance: 0.10 +grasp_min_distance: 0.0 +# Times for the grasp, they are sumed step after step +time_pre_grasp_posture: 2.0 +time_grasp_posture: 1.0 +time_grasp_posture_final: 3.0 +# Base frame of MoveIt for your robot +grasp_pose_frame_id: base_footprint +# Frame where the direction of the poses will be computed +grasp_postures_frame_id: arm_tool_link +# Currently unused grasp quality to put in the message +grasp_quality: 0.1 +# Gripper joint poses +gripper_joint_names: "hand_thumb_joint hand_index_joint hand_mrl_joint" +# Closed position +gripper_grasp_positions: "6.2 6.8 9.2" +# Open position +gripper_pre_grasp_positions: "0.0 0.0 .0" + +# Direction in reference of the grasp_postures_frame_id +pre_grasp_direction_x: 1.0 +pre_grasp_direction_y: 0.0 +pre_grasp_direction_z: 0.0 + +# Direction in reference of the grasp_postures_frame_id +post_grasp_direction_x: -1.0 +post_grasp_direction_y: 0.0 +post_grasp_direction_z: 0.0 + +max_contact_force: 0.0 +allowed_touch_objects: '' + +# Rotation to apply if you have unaligned +# tool link to grasping frame +fix_tool_frame_to_grasping_frame_roll: -90.0 +fix_tool_frame_to_grasping_frame_pitch: 0.0 +fix_tool_frame_to_grasping_frame_yaw: 0.0 + +# Generation of grasps configuration +# in order to generate more or less poses these +# parameters can be tuned +min_degrees_yaw: 0 +max_degrees_yaw: 180 +min_degrees_pitch: 0 +max_degrees_pitch: 180 + +# The steps are the main thing to tune +step_degrees_pitch: 15 +step_degrees_yaw: 15 + +#links_to_allow_contact: ["gripper_left_finger_link", "gripper_right_finger_link", "gripper_link"] +links_to_allow_contact: [hand_safety_box, hand_palm_link, hand_index_abd_link, hand_index_flex_1_link, hand_index_flex_2_link, hand_index_flex_3_link, + hand_index_link, hand_index_virtual_1_link, hand_index_virtual_2_link, hand_index_virtual_3_link, + hand_little_abd_link, hand_little_flex_1_link, hand_little_flex_2_link, hand_little_flex_3_link, + hand_little_virtual_1_link, hand_little_virtual_2_link, hand_little_virtual_3_link, + hand_middle_abd_link, hand_middle_flex_1_link, hand_middle_flex_2_link, hand_middle_flex_3_link, + hand_middle_virtual_1_link, hand_middle_virtual_2_link, hand_middle_virtual_3_link, + hand_mrl_link, hand_ring_abd_link, hand_ring_flex_1_link, hand_ring_flex_2_link, + hand_ring_flex_3_link, hand_ring_virtual_1_link, hand_ring_virtual_2_link, hand_ring_virtual_3_link, + hand_thumb_abd_link, hand_thumb_flex_1_link, hand_thumb_flex_2_link, hand_thumb_link, + hand_thumb_virtual_1_link, hand_thumb_virtual_2_link] diff --git a/tiago_pick_demo/launch/pick_demo.launch b/tiago_pick_demo/launch/pick_demo.launch index 901f92f4..1e64153e 100644 --- a/tiago_pick_demo/launch/pick_demo.launch +++ b/tiago_pick_demo/launch/pick_demo.launch @@ -2,6 +2,7 @@ + @@ -16,18 +17,19 @@ - + - + + - + From ba9f783e0ce86324e84403e58b896bf9f8c3726b Mon Sep 17 00:00:00 2001 From: Victor Lopez Date: Fri, 12 Apr 2019 15:49:14 +0200 Subject: [PATCH 2/2] Fix params for pick, hey5 is still inverted --- .../config/pick_and_place_params_titanium.yaml | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/tiago_pick_demo/config/pick_and_place_params_titanium.yaml b/tiago_pick_demo/config/pick_and_place_params_titanium.yaml index b81d6971..5263b0bb 100644 --- a/tiago_pick_demo/config/pick_and_place_params_titanium.yaml +++ b/tiago_pick_demo/config/pick_and_place_params_titanium.yaml @@ -34,17 +34,17 @@ allowed_touch_objects: '' # Rotation to apply if you have unaligned # tool link to grasping frame -fix_tool_frame_to_grasping_frame_roll: -90.0 +fix_tool_frame_to_grasping_frame_roll: 0.0 fix_tool_frame_to_grasping_frame_pitch: 0.0 -fix_tool_frame_to_grasping_frame_yaw: 0.0 +fix_tool_frame_to_grasping_frame_yaw: 90.0 # Generation of grasps configuration # in order to generate more or less poses these # parameters can be tuned min_degrees_yaw: 0 -max_degrees_yaw: 180 +max_degrees_yaw: 360 min_degrees_pitch: 0 -max_degrees_pitch: 180 +max_degrees_pitch: 360 # The steps are the main thing to tune step_degrees_pitch: 15