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panda_moveit_control's Introduction

Usage for PRIMP-STOMP projects

Give motion_primitive, mode, object, etc values via arguments.

roslaunch panda_moveit_control stomp_execution.launch [args]

For example, for the door opening task(sink_door)

roslaunch panda_moveit_control stomp_execution.launch motion_primitive:=opening mode:=rotating_left object:=sink_door

To change the path to the object/environment mesh, change arguments in operate_planning_scene.launch.

panda_moveit_control's People

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panda_moveit_control's Issues

Rewrite code into modules

  • Create a PandaArm class
  • Create a header file for gripper control and a header file for planning scene manipulation
  • Create nodes for each task execution: pouring, opening(drawer/door), scooping, transporting

Seperate one file into modules

Current node panda_grasp_handle_server.cpp does everything for every task. It includes:

  • Interacts with the planning scene(add/remove collision mesh)
  • Reads the Alvar tag on the handle, converts to pre-grasp/grasp/post-grasp key poses
  • Control the Franka arm

The node requires changes for every task and is hard to manage. I want to break it into modules and let each module handle different things. Modules include:

  • Planning scene operation [class]: add/remove collision scene mesh, add/remove collision object mesh, display trajectory on moveit
  • Robot arm [class]: planning to joint/pose target from current/given start joint configuration
  • Task node: sequential actions for each task

Create a PandaArm class

  • Add new features to planning: allow setting robot start state before planning. This feature can be used in pre-grasp planning, especially in pre-grasp planning task in stomp project.

Pouring obj yaml

  • Define yaml file for each pouring object (cup, spoon): bounding box parameters, tf from pouring pose to panda_link8 pose. (pouring pose is defined in the concave region of object, may not align with the body frame of object)

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