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Disney edge grasp integration #60

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Disney edge grasp integration #60

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6f10470
added support of new feasibility_check interface. (table from edges) …
JannisW Mar 7, 2019
0fff392
added missing parameters and vars
JannisW Mar 7, 2019
c87a1bd
full edge grasp support for feasibility checker (untested)
JannisW Mar 12, 2019
dce8b06
fixed bug in success estimation (no clean separation between differen…
JannisW Mar 15, 2019
33b5df2
fixed typos
JannisW Mar 15, 2019
fcb83f0
fixed various frame issues for edge_grasp. This convention mismatch i…
JannisW Apr 2, 2019
9d38f4b
Merge branch 'master_Disney_MS5' into disney_edge_grasp_integration
JannisW Apr 15, 2019
47dd269
essential fix for feasibilty check (got lost during merges. was deliv…
JannisW Apr 15, 2019
22590db
removed some commented code
JannisW Apr 15, 2019
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20 changes: 20 additions & 0 deletions ec_grasp_planner/src/handarm_parameters.py
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Original file line number Diff line number Diff line change
Expand Up @@ -348,6 +348,26 @@ def __init__(self, **kwargs):
self['edge_grasp']['object']['slide_velocity'] = np.array([0.125, 0.03])
self['edge_grasp']['object']['palm_edge_offset'] = 0

self['edge_grasp']['object']['pre_grasp_manifold'] = Manifold(
{'min_position_deltas': [-0.05, -0.05, -0.05],
'max_position_deltas': [0.05, 0.05, 0.05],
'min_orientation_deltas': [0, 0, 0],
'max_orientation_deltas': [0, 0, 0],
})

self['edge_grasp']['object']['go_down_manifold'] = Manifold({'min_position_deltas': [-0.01, -0.04, -0.05],
'max_position_deltas': [0.06, 0.04, 0.01],
'min_orientation_deltas': [0, 0, 0],
'max_orientation_deltas': [0, 0, 0]
})

self['edge_grasp']['object']['slide_to_edge_manifold'] = Manifold(
{'min_position_deltas': [-0.04, -0.04, -0.01],
'max_position_deltas': [0.04, 0.04, 0.01],
'min_orientation_deltas': [0, 0, 0],
'max_orientation_deltas': [0, 0, 0]
})


# EDGE GRASP
# ----------------------------------------------------------------------------
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