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[WIP] Add pinching with gripper-v6 #2160

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[WIP] Add pinching with gripper-v6 #2160

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pazeshun
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Depends on #2155
Use pinching of gripper-v6 in pick and stow task.

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pazeshun commented Jun 19, 2017 •
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Current Movies

https://drive.google.com/drive/folders/0BxxBA3J-CunGUTkxSks0aUZhLWs

Current Problems & TODO

  • Add gripper-v6 to baxter right hand #2155 (comment)
    • Use prismatic joint load to detect pushing
  • Pinching :graspingp is almost t
  • Pinching often fails because object moves from recognized position by gripper pushing in suction grasp
  • Motions of :pick-object, :return-from-pick-object and :place-object are confusing because they support two grasping ways
    • Add set-grasp-style state before pick-object state
    • :pick-object calls :try-to-suction-object or :try-to-pinch-object depending on the result of set-grasp-style state (or I should add suction-object and pinch-object state? I'm not sure...)
  • return-object doesn't consider pinching
  • Add comments to source code

@pazeshun pazeshun changed the title Add pinching with gripper-v6 [WIP] Add pinching with gripper-v6 Jun 20, 2017
@pazeshun pazeshun force-pushed the add-pinching branch 2 times, most recently from 8a489ff to 4e49717 Compare June 20, 2017 04:06
@pazeshun pazeshun force-pushed the add-pinching branch 2 times, most recently from 585e056 to c617cd5 Compare June 20, 2017 16:00
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pazeshun commented Jun 21, 2017 •
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After I fix fingers, I want to:

  • change pinching direction depending on side length of object bbox
  • calib extrinsic parameter of Astra mini for precision pinch (Currently the position gripper tries to pinch is too far from object centroid)

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Fixes #2161

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I have to fix fingers again...
Please wait until this weekend...

@wkentaro wkentaro added this to the untargeted milestone Jun 24, 2017
@pazeshun pazeshun mentioned this pull request Jun 24, 2017
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@wkentaro wkentaro modified the milestones: 3.1.0, untargeted, 3.2.0 Jun 27, 2017
@pazeshun pazeshun mentioned this pull request Jul 3, 2017
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pazeshun commented Jul 3, 2017

Move to #2203

@pazeshun pazeshun closed this Jul 3, 2017
@pazeshun pazeshun deleted the add-pinching branch July 5, 2017 23:16
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@pazeshun @wkentaro