From 731bdbb695661bcb60328909d7af426541faa253 Mon Sep 17 00:00:00 2001 From: PetervDooren Date: Tue, 16 Feb 2021 22:31:28 +0100 Subject: [PATCH 1/6] make parameters explicit --- custom/skills.yaml | 27 ++++++++++----------------- 1 file changed, 10 insertions(+), 17 deletions(-) diff --git a/custom/skills.yaml b/custom/skills.yaml index 4ea728c..6698bdd 100644 --- a/custom/skills.yaml +++ b/custom/skills.yaml @@ -10,7 +10,7 @@ skills: grab_trash_up: [0.65] default_tolerance: [0.005] - arm: + arm_left: joint_names: ['arm_lift_joint', 'arm_flex_joint', 'arm_roll_joint', 'wrist_flex_joint', 'wrist_roll_joint' ] default_configurations: reset: [0.01, 0.0, -1.57, -1.57, 0.0] @@ -56,19 +56,12 @@ skills: - [0.60, 0.0, 0.0, 0.0, 0.0] - [0.45, 0.0, 0.0, 0.0, 0.0] - [0.60, 0.0, 0.0, 0.0, 0.0] - left: - grasp_offset: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} - marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} - base_offset: {x: 0.45, y: 0.08, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} - left_suction: - grasp_offset: {x: -0.0338, y: 0.012, z: 0.0844, roll: -1.57079632679, pitch: 0.87239795, yaw: 0.0} - marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} - base_offset: {x: 0.45, y: 0.08, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} - right: - grasp_offset: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} - marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} - base_offset: {x: 0.45, y: 0.08, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} - right_suction: - grasp_offset: {x: -0.0338, y: 0.012, z: 0.0844, roll: 0, pitch: 0.87239795, yaw: -1.57079632679} - marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} - base_offset: {x: 0.45, y: 0.08, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} + base_offset: {x: 0.45, y: 0.08, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} + + gripper: + grasp_offset: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} + marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} + + suction: + grasp_offset: {x: -0.0338, y: 0.012, z: 0.0844, roll: -1.57079632679, pitch: 0.87239795, yaw: 0.0} + marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} \ No newline at end of file From 273a229d60bbcb3ff081a9130a85b40015d1875e Mon Sep 17 00:00:00 2001 From: PetervDooren Date: Fri, 19 Feb 2021 20:56:53 +0100 Subject: [PATCH 2/6] rename arm and add grasp_frame --- custom/skills.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/custom/skills.yaml b/custom/skills.yaml index 6698bdd..40626cd 100644 --- a/custom/skills.yaml +++ b/custom/skills.yaml @@ -10,7 +10,7 @@ skills: grab_trash_up: [0.65] default_tolerance: [0.005] - arm_left: + arm_center: joint_names: ['arm_lift_joint', 'arm_flex_joint', 'arm_roll_joint', 'wrist_flex_joint', 'wrist_roll_joint' ] default_configurations: reset: [0.01, 0.0, -1.57, -1.57, 0.0] @@ -59,6 +59,7 @@ skills: base_offset: {x: 0.45, y: 0.08, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} gripper: + grasp_frame: 'grippoint_left' grasp_offset: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} From 781313a1bff2382e55aa33aff6a0035f3fea15c2 Mon Sep 17 00:00:00 2001 From: PetervDooren Date: Tue, 9 Mar 2021 20:53:29 +0100 Subject: [PATCH 3/6] changed grasp offset and reference frame --- custom/skills.yaml | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/custom/skills.yaml b/custom/skills.yaml index 40626cd..686aa34 100644 --- a/custom/skills.yaml +++ b/custom/skills.yaml @@ -59,8 +59,8 @@ skills: base_offset: {x: 0.45, y: 0.08, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} gripper: - grasp_frame: 'grippoint_left' - grasp_offset: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} + grasp_frame: 'hand_palm_link' + grasp_offset: {x: 0.0, y: 0.0, z: 0.0, roll: 3.14159265359, pitch: -1.57079632679, yaw: 0.0} marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} suction: From a4228a8759d9fd7965f9c80c0d491606c2ead994 Mon Sep 17 00:00:00 2001 From: Matthijs van der Burgh Date: Thu, 11 Mar 2021 11:59:30 +0100 Subject: [PATCH 4/6] Add missing newline at EOF --- custom/skills.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/custom/skills.yaml b/custom/skills.yaml index 686aa34..83c7c82 100644 --- a/custom/skills.yaml +++ b/custom/skills.yaml @@ -65,4 +65,4 @@ skills: suction: grasp_offset: {x: -0.0338, y: 0.012, z: 0.0844, roll: -1.57079632679, pitch: 0.87239795, yaw: 0.0} - marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} \ No newline at end of file + marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} From 510b1dafb5638b15c0f58a9d59d454f313f579f2 Mon Sep 17 00:00:00 2001 From: PetervDooren Date: Tue, 6 Apr 2021 20:57:38 +0200 Subject: [PATCH 5/6] added action client param --- custom/skills.yaml | 1 + 1 file changed, 1 insertion(+) diff --git a/custom/skills.yaml b/custom/skills.yaml index 83c7c82..b3a6697 100644 --- a/custom/skills.yaml +++ b/custom/skills.yaml @@ -59,6 +59,7 @@ skills: base_offset: {x: 0.45, y: 0.08, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} gripper: + ac_gripper: 'hero/gripper/action' grasp_frame: 'hand_palm_link' grasp_offset: {x: 0.0, y: 0.0, z: 0.0, roll: 3.14159265359, pitch: -1.57079632679, yaw: 0.0} marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} From a37311685eabc946c966f5955f87abc6c0463657 Mon Sep 17 00:00:00 2001 From: PetervDooren <19806646+PetervDooren@users.noreply.github.com> Date: Tue, 6 Apr 2021 21:10:25 +0200 Subject: [PATCH 6/6] add leading slash --- custom/skills.yaml | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/custom/skills.yaml b/custom/skills.yaml index b3a6697..17d7618 100644 --- a/custom/skills.yaml +++ b/custom/skills.yaml @@ -59,7 +59,7 @@ skills: base_offset: {x: 0.45, y: 0.08, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0} gripper: - ac_gripper: 'hero/gripper/action' + ac_gripper: '/hero/gripper/action' grasp_frame: 'hand_palm_link' grasp_offset: {x: 0.0, y: 0.0, z: 0.0, roll: 3.14159265359, pitch: -1.57079632679, yaw: 0.0} marker_to_grippoint: {x: 0.0, y: 0.0, z: 0.0, roll: 0.0, pitch: 0.0, yaw: 0.0}