moveit_grasps tutorial #302
Conversation
Co-Authored-By: henningkayser <henningkayser@picknik.ai>
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How does this relate to #215? |
Good question! @davetcoleman do you think the previous PR should be continued rather than making a new one? |
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| Within that file you will find all of the gripper specific parameters necessary for customizing MoveIt Grasps with any suction or finger gripper. |
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From looking at the parameter file, the meaning of all those parameters doesn't yet become clear.
I guess the code is limited to parallel-jaw grippers, right? Why, for example, is it required to define the finger width?
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I added further parameter description to the example config moveit/moveit_grasps#36. I agree that some of the parameters seem a bit confusing at first but I think the comments should clarify all of them.
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@henningkayser I have made some additional changes that I have pushed to the picknikrobotics moveit-tutorials fork. Please consider cherry picking them on top of your branch. https://github.com/PickNikRobotics/moveit_tutorials/commits/melodic-mike-moveit-grasps My changes are in the two most recent commits |
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@mlautman Looks good! You could have pushed them here directly as well. Shouldn't we copy the remaining images into this repo? |
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| In order to run the full grasp pipeline the three components need to be applied in sequence. | ||
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| An example for generating, filtering and planning grasp motions can be found inside the file `src/grasp_pipeline_demo.cpp <https://github.com/ros-planning/moveit_grasps/blob/kinetic-devel/src/demo/grasp_pipeline_demo.cpp>`_. The grasp pipeline demo can be run by launching `launch/grasp_pipeline_demo.launch <https://github.com/ros-planning/moveit_grasps/blob/kinetic-devel/launch/grasp_pipeline_demo.launch>`_. |
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nit: these should point to the melodic-devel or a master branch
This will be the new tutorial for moveit_grasps.
Currently, there is only the kinetic branch so I will update all links and references once melodic (or master) branch are created.
Should I also target this PR against melodic and kinetic?
@davetcoleman I addressed you previous changes.
Also, I'm currently testing moveit_grasps and will add some instructions to the tutorial if needed.