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Various fixes #16
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Various fixes #16
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BTW if you check b2c4470 my intention was to cherry-pick your own changes to the base launch files so that you don't have duplicated code. I might have missed something, let me know if that's the case. |
@aPonza Thank you for sharing these changes. After grasping finish I get following error: panda_base_grasping_controller.py", line 376, in go Any suggestion? |
…led in requirements.txt
If you retry now that should work. It was a pass-by-object-value issue. |
I'm having trouble understanding the function mvp_grasp/mvp_grasping/src/mvp_grasping/panda_base_grasping_controller.py Lines 254 to 260 in c301ba2
What do the offsets represent and where do the numbers come from? Why is the z-coordinate manipulated instead of being kept to the calculated one? Every time I get to the last bit of movement to go and actually grasp the object I obtain an Where is the camera mount transform defined and how is it related to these offsets? Could it be that mvp_grasp/franka_control_wrappers/ros_nodes/set_panda_defaults.py Lines 28 to 30 in c301ba2
Afterwards: mvp_grasp/mvp_grasping/src/mvp_grasping/panda_base_grasping_controller.py Lines 269 to 278 in c301ba2
What is the point of moving vertically downwards with a different controller instead of constraining the MoveIt controller to find a solution in the z axis? Is it just a different approach or does it have benefits I didn't consider? |
Be mindful that loading the remembered poses from here means restarting EDIT: force pushed due to a line being in the wrong commit EDIT2: forgot to mention I used the same pose that was previously used as |
Set the scale to 1.0 to remove the |
Hi, I've been trying to replicate this setup on our Franka, with the Franka gripper. Almost everything works as advertised, except for one catch: the best grasp output by the GGCNN service is always rotated 45 degrees on the z-axis One thing I noticed is that the end-effector link Was there any rotational correction required wrt to the gripper orientation from the output of the GGCNN service? |
iirc that's a problem I was having as well, but I've been away from the lab for a long time now. There was something about WRT this PR, I still haven't received answers from the repo owner, so that's why it's still a draft. Also it's afaik untested by him as well, so it might be my setup doesn't work for everyone. |
Missing:
I'm still pushing this hoping you can test if it works for you as well (as it should).
Closes #8