Ugo, > I'll be happy to! Where are you at regarding the grasping pipeline? Well, I cac plan trajectories and execute them, I can segment objects from the floor and I hooked up OpenRAVE grasp planning to figure out the grasp pose for the gripper. Looking at the object_manipulator package I think I have all the required components that need to put together. Is that the package you are using? > Things are not yet completely clear in my mind regarding the grasping > pipeline, so I haven't written a tutorial. But it's definitely in my todo > list. > > Regarding my previous questions, I was in fact missing the opml_planning. I > added it and it is now closer to be working ;) Good, glad to hear that. There's one problem I had with OMPL, that took me a few hours to figure out. It was always failing to plan saying that my current pose is in collision, which it definitely wasn't. It turned out it thought that 2 links of the arm were in collision even though they are pretty far away in that configuration. I had to disable collision checks between these two links. If anybody has an idea what might be happening there I'd like to hear it. Maybe there's a way to visualize the collision meshes that OMPL uses to figure out if current state is in collision. Anyway, you might not see that at all :) Thanks, Anton > On Fri, Mar 4, 2011 at 5:07 PM, Antons Rebguns > wrote: >> >> Ugo, >> >> Let me know if you have any questions or need clarification on >> anything. I, on the other hand, trying to get the grasping pipeline >> working and I saw that you made some considerable progress there. Care >> to share you experiences? >> >> Thanks, >> Anton >> >> On Fri, Mar 4, 2011 at 9:53 AM, Ugo Cupcic wrote: >> > Hi, >> > >> > Yes I saw it a while ago, and had forgotten about this link. Thanks. >> > >> > I'll check your code and see if it helps me with my problems :) >> > >> > Cheers, >> > >> > Ugo >> > >> > On Fri, Mar 4, 2011 at 4:44 PM, Antons Rebguns >> > wrote: >> >> >> >> Ugo, >> >> >> >> Have you looked at this tutorial: >> >> >> >> >> >> >> >> http://www.ros.org/wiki/arm_navigation/Tutorials/Running%20arm%20navigation%20on%20non-PR2%20arm >> >> >> >> I outlined the steps I took to make my arm work with ROS motion >> >> planning pipeline. >> >> >> >> Anton >> >> >> >> On Fri, Mar 4, 2011 at 9:27 AM, Ugo Cupcic wrote: >> >> > Hi, >> >> > >> >> > I'm getting more and more lost trying to implement the move_arm >> >> > properly, so >> >> > sorry in advance if my questions are a bit messy. >> >> > >> >> > At first I duplicated the move_arm package and completely modified it >> >> > for my >> >> > arm. It kind of worked but it didn't seem like a good solution, as >> >> > move_arm >> >> > seems to be very generic: >> >> > The only command output from this package seem to be a >> >> > pr2_controllers_msgs::JointTrajectoryAction. So if I implement my own >> >> > joint_trajectory_action_controller.cpp, which is a >> >> > SimpleActionServer, to >> >> > move >> >> > my >> >> > arm, will it work? >> >> > >> >> > To use the generic move_arm package, I'm still missing a >> >> > motion_planner >> >> > (I >> >> > think). Should I try to use the ompl_planner or the >> >> > ik_constrained_planner >> >> > or something else? When I'm trying to compile the >> >> > ik_constrained_planner >> >> > it's failing to build due to the generic_kinematics overlay (from >> >> > >> >> > >> >> > https://code.ros.org/svn/wg-ros-pkg/stacks/kinematics/branches/generic_kinematics). >> >> > >> >> > Hope you can give me some hints on what I am doing wrong. >> >> > >> >> > Cheers, >> >> > >> >> > Ugo >> >> > >> >> > -- >> >> > Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com >> >> > Software Engineer | 251 Liverpool Road | >> >> > need a Hand? | London N1 1LX | +44 20 7700 2487 >> >> > http://www.shadowrobot.com/hand/ @shadowrobot >> >> > >> >> > >> >> > _______________________________________________ >> >> > ros-users mailing list >> >> > ros-users@code.ros.org >> >> > https://code.ros.org/mailman/listinfo/ros-users >> >> > >> >> > >> > >> > >> > >> > -- >> > Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com >> > Software Engineer | 251 Liverpool Road | >> > need a Hand? | London N1 1LX | +44 20 7700 2487 >> > http://www.shadowrobot.com/hand/ @shadowrobot >> > >> > >> > _______________________________________________ >> > ros-users mailing list >> > ros-users@code.ros.org >> > https://code.ros.org/mailman/listinfo/ros-users >> > >> > > > > > -- > Ugo Cupcic | Shadow Robot Company | ugo@shadowrobot.com > Software Engineer | 251 Liverpool Road | > need a Hand? | London N1 1LX | +44 20 7700 2487 > http://www.shadowrobot.com/hand/ @shadowrobot > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >