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Add pick demo with hey5. Work in progress #21

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Add pick demo with hey5. Work in progress #21

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5f93ab8
Add pick demo with hey5. Work in progress
Apr 11, 2019
ba9f783
Fix params for pick, hey5 is still inverted
Apr 12, 2019
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0 ...ck_demo/config/pick_and_place_params.yaml → ...o/config/pick_and_place_params_steel.yaml
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63 changes: 63 additions & 0 deletions tiago_pick_demo/config/pick_and_place_params_titanium.yaml
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Original file line number Diff line number Diff line change
@@ -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: 0.0
fix_tool_frame_to_grasping_frame_pitch: 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: 360
min_degrees_pitch: 0
max_degrees_pitch: 360

# 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]
8 changes: 5 additions & 3 deletions tiago_pick_demo/launch/pick_demo.launch
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,7 @@
<launch>

<arg name="rviz" default="true"/>
<arg name="robot" default="steel"/>
<!-- marker detector -->
<node pkg="aruco_ros" type="single" name="aruco_single">
<remap from="/camera_info" to="/xtion/rgb/camera_info" />
Expand All @@ -16,18 +17,19 @@
</node>

<!-- Load definition of pregrasp motion into play_motion namespace -->
<rosparam command="load" file="$(find tiago_pick_demo)/config/pick_motions.yaml" />
<rosparam command="load" file="$(find tiago_pick_demo)/config/pick_motions.yaml" />

<!-- Pick & place server -->
<node name="pick_and_place_server" pkg="tiago_pick_demo" type="pick_and_place_server.py" output="screen">
<rosparam command="load" file="$(find tiago_pick_demo)/config/pick_and_place_params.yaml" />
<rosparam command="load" file="$(find tiago_pick_demo)/config/pick_and_place_params_steel.yaml" if="$(eval arg('robot') == 'steel')"/>
<rosparam command="load" file="$(find tiago_pick_demo)/config/pick_and_place_params_titanium.yaml" if="$(eval arg('robot') == 'titanium')"/>
<param name="object_width" value="0.05" />
<param name="object_height" value="0.1" />
<param name="object_depth" value="0.05" />
</node>

<!-- Node exposing service to start looking for the object and trigger the picking -->
<node name="pick_client" pkg="tiago_pick_demo" type="pick_client.py" output="screen"/>
<node name="pick_client" pkg="tiago_pick_demo" type="pick_client.py" output="screen"/>

<group if="$(arg rviz)">
<node name="pick_demo_rviz" pkg="rviz" type="rviz" args="-d $(find tiago_pick_demo)/config/rviz/tiago_pick_demo.rviz" />
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