Giskard fallschool changes #226
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… giskard. Updated robot_description usage from old version to new version in Giskard. Added options for disabling monitors and allowing gripper collision in achieve_cartesian_goal in Giskard and added these options to the configurations of the world. Added a globale variable that indicates if robokudo was found or not to avoid using real detection processs module if Robokudo was not found.
…e kept while navigating.
corrected adding of gripper groups
corrected adding of gripper groups
…veTCP. Navigate rotation then translation when transporting to avoid wierd arm pose.
| """ | ||
| Enum for the different movement types of the robot. | ||
| """ | ||
| STRAIGHT_TRANSLATION = auto() |
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From the context it is not understandable to me what these enums fields mean. Please provide docsstring for them
| @@ -70,3 +70,6 @@ class MultiverseConfig(WorldConfig): | |||
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| position_tolerance = 2e-2 | |||
| prismatic_joint_position_tolerance = 2e-2 | |||
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| use_giskard_monitor = False | |||
| allow_gripper_collision = False | |||
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Why is this a global parameter? that should be depending on the Motion.
| Whether to use the Giskard goal monitor when executing the goals. | ||
| """ | ||
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| allow_gripper_collision: bool = True |
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Same here, why a global parameter?
| @@ -279,7 +279,8 @@ class NavigateAction(ActionDesignatorDescription): | |||
| """ | |||
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| def __init__(self, target_locations: List[Pose], resolver=None, | |||
| ontology_concept_holders: Optional[List[Thing]] = None): | |||
| ontology_concept_holders: Optional[List[Thing]] = None, | |||
| keep_joint_states: bool = False): | |||
| @@ -310,14 +312,18 @@ class TransportAction(ActionDesignatorDescription): | |||
| def __init__(self, | |||
| object_designator_description: Union[ObjectDesignatorDescription, ObjectDesignatorDescription.Object], | |||
| arms: List[Arms], | |||
| target_locations: List[Pose], resolver=None, | |||
| target_locations: List[Pose], | |||
| pickup_prepose_distance: float = 0.15, | |||
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Good idea! But 15 centimeter is a bit much, I think that is also why the action_designator examples fails the CI
| @@ -838,11 +843,17 @@ class NavigateActionPerformable(ActionAbstract): | |||
| """ | |||
| Location to which the robot should be navigated | |||
| """ | |||
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| keep_joint_states: bool = False | |||
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Why? Does this not cause problems with the collision avoidance? and the optional parameter is in the dataclass when it should be in the description
| @@ -863,13 +874,19 @@ class TransportActionPerformable(ActionAbstract): | |||
| """ | |||
| Target Location to which the object should be transported | |||
| """ | |||
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| pickup_prepose_distance: float = 0.07 | |||
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WTF? Now it is 7 centimeter and also in the dataclass?
| @@ -23,6 +22,7 @@ | |||
| try: | |||
| from giskardpy.python_interface.old_python_interface import OldGiskardWrapper as GiskardWrapper | |||
| from giskard_msgs.msg import WorldBody, MoveResult, CollisionEntry | |||
| from giskard_msgs.srv import UpdateWorld | |||
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Remove this import since it is not in the giskard_msgs anymore
| @@ -314,9 +315,25 @@ def achieve_joint_goal(goal_poses: Dict[str, float]) -> 'MoveResult': | |||
| return giskard_wrapper.execute() | |||
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| def set_joint_goal(goal_poses: Dict[str, float]) -> None: | |||
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There is already achieve_joint_goal
| return giskard_wrapper.execute() | ||
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| @init_giskard_interface | ||
| @thread_safe | ||
| def achieve_straight_cartesian_goal(goal_pose: Pose, tip_link: str, | ||
| root_link: str) -> 'MoveResult': | ||
| root_link: str, allow_gripper_collision_: bool = False) -> 'MoveResult': |
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underscore.
allow_gripper_collsision allows to specify the gripper. Please use this instead of always allowing all grippers to collide
Updates to Giskard interface like:
Allow / Disable gripper collision fix where incorrect links were used + added a configuration parameter and a passable argument to achieve_cartesian_goal.
Use of seed configuration only in projection mode.
Added MovementType Enum to use the correct motion in Giskard.
Added a world configuration parameter that controls the use of Giskard monitors.
Added a parameter that controls the pickup prepose distance (I think the best solution is to use the knowledge here).