Matei, > Yes, it does look like you have all components in. Let us know what > kind of problems you run into when integrating them in the > PickupAction that the manipulation pipeline serves, we should be able > to help and then hopefully fix any wrinkles in the upcoming > manipulation releases for diamondback. Anything that you find > counter-intuitive or unclear will help is write better documentation > and clearer API's. Ok, good, I will try to integrate all the pieces today. Will let you know if something doesn't make sense. > What hand are you using? DIY :) It's a custom 7DOF arm built from Robotis Dynamixel motors. Thanks, Anton > On Fri, Mar 4, 2011 at 10:10 AM, Ugo Cupcic wrote: >> >> >> On Fri, Mar 4, 2011 at 5:51 PM, Antons Rebguns >> wrote: >>> >>> 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? >> >> Yes I'm using that package. You seem to have everything ready for >> integration then! >> >> If you do some object recognition after your segmentation, you should also >> probably have a look at the household_objects node. >>> >>> > 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 >>> > >>> > >> >> >> >> -- >> 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 >> >> > > > > -- > Matei Ciocarlie > Research Scientist > Willow Garage Inc. > 650-475-9780 > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >