Add Baxter as a supported robot #18
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…100] and pr2/fetch use meters
…pper handlers back
jstnhuang
requested changes
Nov 8, 2017
src/baxter_actions.cpp
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| #include "rapid_pbd/baxter_actions.h" | ||
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| #include <string> | ||
| #include <typeinfo> |
CMakeLists.txt
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| @@ -441,6 +459,10 @@ install(FILES | |||
| config/sensors_dummy.yaml | |||
| config/surface_segmentation.yaml | |||
| launch/editor.launch | |||
| launch/baxter_app.launch | |||
| launch/baxter.launch | |||
| ## launch/baxter_moveit.launch | |||
frontend/src/pbd-action-picker.html
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| @@ -76,6 +76,7 @@ | |||
| ros="[[ros]]" | |||
| ></ros-action-client> | |||
| <div class="paper-material"> | |||
| <template is="dom-if" if="[[params.manualFreeze]]"> | |||
frontend/src/pbd-action.html
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| @@ -177,7 +177,13 @@ | |||
| _displayActionTypeChanged: function(displayActionType) { | |||
| if (displayActionType === 'open gripper') { | |||
| this.set('action.type', 'actuate gripper'); | |||
| this.set('action.gripper_command.position', 0.1); | |||
| // if (this.params.robot === "baxter") { | |||
| @@ -144,9 +144,15 @@ | |||
| if (robot === 'pr2') { | |||
| this.set('params.robot', robot); | |||
| this.set('params.hasTwoArms', true); | |||
| this.set('params.manualFreeze', true); | |||
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Add a comment like "manualFreeze is true for robots that require buttons in Rapid PbD to relax/freeze the arm. Set manualFreeze to false for robots like the Baxter that can activate gravity compensation by just grasping the wrist."
src/program_executor.cpp
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| ROS_WARN("Waiting for freeze arm service."); | ||
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| std::string robot(""); | ||
| bool is_robot_specified = ros::param::get("robot", robot); |
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Cancel("Robot not specified!") and Finish() if not set.
src/robot_config.cpp
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| positions->clear(); | ||
| positions->push_back(0.0); | ||
| positions->push_back(-0.020833); | ||
| // right |
src/robot_config.cpp
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| positions->clear(); | ||
| positions->push_back(0.0); | ||
| positions->push_back(0.0); | ||
| // , |
include/rapid_pbd/robot_config.h
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| std::vector<std::string>* joint_names) const; | ||
| void gripper_open_positions(std::vector<double>* positions) const; | ||
| void gripper_close_positions(std::vector<double>* positions) const; | ||
| void default_gripper_poses(std::vector<double>* poses) const; |
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Remove this, looks like it's unused.
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Ah sorry, it was used for my condition learning
src/robot_config.cpp
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| positions->push_back(0.0); | ||
| // , | ||
| } | ||
| void BaxterRobotConfig::default_gripper_poses( |
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Is this unused? If so, delete it.
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Ah sorry, it was used for my condition learning
…dth to Gripper position
jstnhuang
approved these changes
Nov 16, 2017
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