Changed/added actions for block sorting #2
Conversation
|
|
||
| # Now use this to get a tsr for end-effector poses | ||
| place_tsr = robot.tsrlibrary(obj, 'place', pose_tsr_chain=on_obj_tsr[0], | ||
| place_tsr = robot.tsrlibrary(obj, 'place_on', pose_tsr_chain=on_obj_tsr[0], |
There was a problem hiding this comment.
I checked herb tsr library and all other objects use 'place' with these set of arguments except for block tsr, which has 'place' for specific position. For consistency, I think we should change herbpy's 'place' tsr to have different name, change its 'place_on' to 'place' and keep this as is. See personalrobotics/herbpy#118.
| allowed_tilt=self.allowed_tilt, | ||
| vertical_offset=self.height) | ||
| manip=active_manipulator)#, | ||
| #allowed_tilt=self.allowed_tilt, |
There was a problem hiding this comment.
Remove these commented lines, and remove allowed_tilt and height from initialization argument.
There was a problem hiding this comment.
Oh, those lines were all removed in my local version of the code. I guess I forgot to commit it, I will do that.
| direction=self.direction, | ||
| distance=self.min_distance, | ||
| max_distance=self.max_distance) | ||
| # path = planner.PlanToEndEffectorOffset( |
There was a problem hiding this comment.
Remove the commented code block.
|
|
||
| with env: | ||
| funnel_direction = -1. * active_manipulator.GetEndEffectorTransform()[:3,0] | ||
| funnel_direction[2] = 0. |
There was a problem hiding this comment.
Why does this move in -x direction? I thought funneling action also moves in +z direction.
There was a problem hiding this comment.
It's because of the way the hand is positioned/shaped. The z axis comes out of the palm which is facing roughly downwards and the x axis goes out towards the block.
I changed MoveUntilTouch.py to use MoveUntilTouch. I haven't tested it yet because HERB isn't working. I removed extra arguments from PlaceObject and added the FunnelBlock action