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 < > anton@email.arizona.edu> > >> > 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