gstavrinos / ez_pick_and_place Goto Github PK
View Code? Open in Web Editor NEWA ROS package that makes picking and placing objects with MoveIt and GraspIt, easier than ever! :robot:
License: BSD 3-Clause "New" or "Revised" License
A ROS package that makes picking and placing objects with MoveIt and GraspIt, easier than ever! :robot:
License: BSD 3-Clause "New" or "Revised" License
This requires careful handling because the object could be potentially placed higher than the supporting surface.
Currently the gripper joints do not move according to the graspit plan. Change that.
This can be done either by using multiple threads to create plans through graspit (don't know if it's possible) or by calling graspit once, and call it again only if all plans failed.
hi gstavrinos! ez pnp is very helpful for me,however,when I run ez_pnp2.py,it seem to get an error!
it looks like:
[ERROR] [1586700828.583032, 51.950000]: Error processing request: 'Z'
['Traceback (most recent call last):\n', ' File "/opt/ros/kinetic/lib/python2.7/dist-packages/rospy/impl/tcpros_service.py", line 625, in _handle_request\n response = convert_return_to_response(self.handler(request), self.response_class)\n', ' File "/home/user/pnp_ws/src/ez_pick_and_place/src/ez_tools.py", line 223, in startPlanning\n graspit_grasps = self.graspThis(req.graspit_target_object)\n', ' File "/home/user/pnp_ws/src/ez_pick_and_place/src/ez_tools.py", line 113, in graspThis\n target.id = str(self.ez_objects[object_name][0])\n', "KeyError: 'Z'\n"]
maybe the problem is here?
def graspThis(self, object_name):
target = CollisionObject()
target.id = str(self.ez_objects[object_name][0])
target.primitive_poses = [self.ez_objects[object_name][1].pose]
response = self.planning_srv(group_name = self.gripper_name, target = target)
return response.grasp
and the last problem is as the gif showing,the E and Z two objects should be loading in test2_ez_pnp2.py ,but the service node just show only E was succeed,why?
Loaded object from /home/user/pnp_ws/src/roboskel_ros_resources/graspit/objects/dinosaur_E.xml - GraspItSceneManager.cpp, 639
[ INFO] [1586700826.607526458, 51.872000000]: Added object E from file /home/user/pnp_ws/src/roboskel_ros_resources/graspit/objects/dinosaur_E.xml and got ID=1 - GraspItServices.cpp, 158
GCOL: model not foundy
[ INFO] [1586700826.683683481, 51.944000000]: Successfully loaded model 1 to the world. - GraspItServices.cpp, 211
could you help me? thank you very much!!!
Currently the user specifies only x,y and the rest are calculated by the planner, assuming that the object must be placed on the same surface it was picked up from, maintaining its pitch and roll.
Other useful modes:
Allow the user to select if they want to replan if the current attempt failed.
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