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Make new palm flesh the default palm for Hands E and G (lite) #844

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merged 8 commits into from
Jan 9, 2025
Merged

Make new palm flesh the default palm for Hands E and G (lite) #844

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562e4dc
Fix Left arm jumps (#843)
rnzenha-s Apr 30, 2024
1544213
Make new palm flesh default for hands E and G
Dec 9, 2024
679a789
Make STF (MST) the default fingertip sensors
Dec 9, 2024
e9e5c70
Rename 'underaction_error_reporter' node. Ensure 'robot_description' …
Dec 10, 2024
ead4df0
Merge branch 'noetic-devel' into F#_SWC-65_make_new_palm_flesh_defaul…
Dec 10, 2024
2c73a78
Lint fixes
Dec 10, 2024
c40fc7f
Fix ROS tests to conform to latest api changes to moveit_commander: h…
Dec 11, 2024
684a456
Update license year
Dec 11, 2024
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12 changes: 6 additions & 6 deletions sr_error_reporter/src/UnderactuationErrorReporter.cpp
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
/*
* Software License Agreement (BSD License)
* Copyright © 2021-2023 belongs to Shadow Robot Company Ltd.
* Copyright © 2021-2024 belongs to Shadow Robot Company Ltd.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without modification,
Expand Down Expand Up @@ -39,11 +39,6 @@
UnderactuationErrorReporter::UnderactuationErrorReporter(ros::NodeHandle& node_handle)
: node_handle_(node_handle)
{
trajectory_subscriber_left_ = node_handle.subscribe("/lh_trajectory_controller/state", 1,
&UnderactuationErrorReporter::trajectory_callback_left, this, ros::TransportHints().tcpNoDelay());
trajectory_subscriber_right_ = node_handle.subscribe("/rh_trajectory_controller/state", 1,
&UnderactuationErrorReporter::trajectory_callback_right, this, ros::TransportHints().tcpNoDelay());

if (!wait_for_param(node_handle, "robot_description"))
{
ROS_ERROR("UnderactuationErrorReporter did't find robot_description on parameter server");
Expand All @@ -58,6 +53,11 @@ UnderactuationErrorReporter::UnderactuationErrorReporter(ros::NodeHandle& node_h
{
ROS_ERROR("UnderactuationErrorReporter did't find robot_description_semantic on parameter server");
}

trajectory_subscriber_left_ = node_handle.subscribe("/lh_trajectory_controller/state", 1,
&UnderactuationErrorReporter::trajectory_callback_left, this, ros::TransportHints().tcpNoDelay());
trajectory_subscriber_right_ = node_handle.subscribe("/rh_trajectory_controller/state", 1,
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&UnderactuationErrorReporter::trajectory_callback_right, this, ros::TransportHints().tcpNoDelay());
}

ros::Publisher UnderactuationErrorReporter::get_or_create_publisher(
Expand Down
5 changes: 2 additions & 3 deletions sr_multi_moveit/sr_multi_moveit_test/scripts/test_planners.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
#!/usr/bin/env python3

# Software License Agreement (BSD License)
# Copyright © 2019, 2022-2023 belongs to Shadow Robot Company Ltd.
# Copyright © 2019, 2022-2024 belongs to Shadow Robot Company Ltd.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without modification,
Expand Down Expand Up @@ -267,8 +267,7 @@ def test_waypoints(self):
wpose = waypoints[0]
waypoints.append(copy.deepcopy(wpose))

(plan3, fraction) = self.group.compute_cartesian_path(
waypoints, 0.01, 0.0)
(plan3, fraction) = self.group.compute_cartesian_path(waypoints, 0.01)
if not self._check_plan(plan3) and fraction > 0.8:
self.fail_list.append("Failed: test_waypoints, " + self.planner)
else:
Expand Down
6 changes: 2 additions & 4 deletions sr_robot_commander/src/sr_robot_commander/follow_warehouse_trajectory.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
#!/usr/bin/env python3

# Software License Agreement (BSD License)
# Copyright © 2019, 2022-2023 belongs to Shadow Robot Company Ltd.
# Copyright © 2019, 2022-2024 belongs to Shadow Robot Company Ltd.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without modification,
Expand Down Expand Up @@ -52,7 +52,6 @@ def __init__(self):
rospy.sleep(2)
group_id = rospy.get_param("~arm_group_name")
self.eef_step = rospy.get_param("~eef_step", 0.01)
self.jump_threshold = rospy.get_param("~jump_threshold", 1000)

self.group = MoveGroupCommander(group_id)
self._robot_name = self.robot._r.get_robot_name()
Expand Down Expand Up @@ -151,8 +150,7 @@ def plan_from_list(self, waypoint_names):
# +1 because current position is used as first waypiont.
rospy.logerr("Not all waypoints existed, not executing.")
return False
(plan, fraction) = self.group.compute_cartesian_path(
waypoints, self.eef_step, self.jump_threshold)
(plan, fraction) = self.group.compute_cartesian_path(waypoints, self.eef_step)

if fraction < self._min_wp_fraction:
rospy.logerr("Only managed to generate trajectory through" +
Expand Down
8 changes: 3 additions & 5 deletions sr_robot_commander/src/sr_robot_commander/sr_robot_commander.py
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
#!/usr/bin/env python3

# Software License Agreement (BSD License)
# Copyright © 2015, 2022-2023 belongs to Shadow Robot Company Ltd.
# Copyright © 2015, 2022-2024 belongs to Shadow Robot Company Ltd.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without modification,
Expand Down Expand Up @@ -808,15 +808,13 @@ def run_joint_trajectory_unsafe(self, joint_trajectory, wait=True):
rospy.loginfo("Trajectory not completed")

def plan_to_waypoints_target(self, waypoints, reference_frame=None,
eef_step=0.005, jump_threshold=0.0, custom_start_state=None):
eef_step=0.005, custom_start_state=None):
"""
Specify a set of waypoints for the end-effector and plans.
This is a blocking method.
@param reference_frame - the reference frame in which the waypoints are given.
@param waypoints - an array of poses of end-effector.
@param eef_step - configurations are computed for every eef_step meters.
@param jump_threshold - maximum distance in configuration space between consecutive points in the
resulting path.
@param custom_start_state - specify a start state different than the current state.
@return - motion plan (RobotTrajectory msg) that contains the trajectory to the set wayapoints targets.
"""
Expand All @@ -827,7 +825,7 @@ def plan_to_waypoints_target(self, waypoints, reference_frame=None,
old_frame = self._move_group_commander.get_pose_reference_frame()
if reference_frame is not None:
self.set_pose_reference_frame(reference_frame)
self.__plan, fraction = self._move_group_commander.compute_cartesian_path(waypoints, eef_step, jump_threshold)
self.__plan, fraction = self._move_group_commander.compute_cartesian_path(waypoints, eef_step)
self.set_pose_reference_frame(old_frame)
return self.__plan, fraction

Expand Down
4 changes: 2 additions & 2 deletions sr_robot_launch/launch/sr_ur_arm_hand.launch
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<!--
Software License Agreement (BSD License)
Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
Copyright © 2022-2024 belongs to Shadow Robot Company Ltd.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
Expand Down Expand Up @@ -198,5 +198,5 @@
</group>

<!-- Publish underactuation error -->
<node name="error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>
<node name="underactuation_error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>
</launch>
4 changes: 2 additions & 2 deletions sr_robot_launch/launch/sr_ur_arms_hands.launch
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<!--
Software License Agreement (BSD License)
Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
Copyright © 2022-2024 belongs to Shadow Robot Company Ltd.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
Expand Down Expand Up @@ -217,6 +217,6 @@
</group>

<!-- Publish underactuation error -->
<node name="error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>
<node name="underactuation_error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>

</launch>
10 changes: 5 additions & 5 deletions sr_robot_launch/launch/srhand.launch
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
<!--
Software License Agreement (BSD License)
Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
Copyright © 2022-2024 belongs to Shadow Robot Company Ltd.
All rights reserved.
Redistribution and use in source and binary forms, with or without modification,
are permitted provided that the following conditions are met:
Expand Down Expand Up @@ -66,13 +66,13 @@
<arg if="$(eval arg('hand_id') == 'lh')" name="side" default="left"/>
<!-- Set to hand_e or hand_g -->
<arg name="hand_type" default="hand_e"/>
<arg if="$(eval arg('hand_type') == 'hand_e')" name="hand_version" default="E3M5"/>
<arg if="$(eval arg('hand_type') == 'hand_g')" name="hand_version" default="G1M5"/>
<arg if="$(eval arg('hand_type') == 'hand_e')" name="hand_version" default="E4"/>
<arg if="$(eval arg('hand_type') == 'hand_g')" name="hand_version" default="G4"/>
<arg if="$(eval arg('hand_type') == 'hand_c')" name="hand_version" default="C6M2"/>
<!-- Set to all allowed fingers by default but you can specify less using a list like this "th,ff,mf,rf,lf" -->
<arg name="fingers" default="all"/>
<!-- Set to pst sensors by default but they can be specified by finger using a list like this "th=pst,ff=pst,mf=pst,rf=pst,lf=pst" -->
<arg name="tip_sensors" default="pst"/>
<arg name="tip_sensors" default="mst"/>
<arg name="mid_sensors" default="none"/>
<arg name="prox_sensors" default="none"/>
<arg name="palm_sensor" default="none"/>
Expand Down Expand Up @@ -135,5 +135,5 @@
</include>

<!-- Publish underactuation error -->
<node name="error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>
<node name="underactuation_error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>
</launch>