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Fix/side param #11

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merged 6 commits into from
Apr 24, 2021
+12 −17
Merged

Fix/side param #11

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731bdbb
make parameters explicit
PetervDooren Feb 16, 2021
273a229
rename arm and add grasp_frame
PetervDooren Feb 19, 2021
781313a
changed grasp offset and reference frame
PetervDooren Mar 9, 2021
a4228a8
Add missing newline at EOF
MatthijsBurgh Mar 11, 2021
510b1da
added action client param
PetervDooren Apr 6, 2021
a373116
add leading slash
PetervDooren Apr 6, 2021
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28 changes: 11 additions & 17 deletions custom/skills.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -10,7 +10,7 @@ skills:
grab_trash_up: [0.65]
default_tolerance: [0.005]

arm:
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]
Expand Down Expand Up @@ -56,19 +56,13 @@ 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_frame: 'grippoint_left'
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arm_center and grippoint_left are conflicting

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Agreed, will see if I can change the name of this frame

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}