pick place config

air_moveit_config/config/air_config-2.yaml

@@ -0,0 +1,47 @@
+# Total planning attempts
+max_solutions: 10
+
+
+# Planning group and link names
+arm_group_name: "air"
+eef_name: "gripper"
+hand_group_name: "gripper"
+hand_frame: "qbhand_base_link"
+
+# Poses
+hand_open_pose: "open"
+hand_close_pose: "full_closed"
+arm_home_pose: "home2"
+
+# Scene frames
+world_frame: "world"
+table_reference_frame: "world"
+object_reference_frame: "world"
+surface_link: "table"
+
+# Collision object for picking
+# CYLINDER object specifications
+object_name: "49"
+object_dimensions: [0.05, 0.01] # [height, radius]
+object_pose: [0.55, -0.25, 0.7, 0, 0, 0]
+
+# Table model
+spawn_table: true
+table_name: "table"
+table_dimensions: [2, 2, 0.001]  # [length, width, height]
+table_pose: [0.2, -0.85, 0.65, 0, 0, 0]
+
+# Gripper grasp frame transform [x,y,z,r,p,y]
+grasp_frame_transform: [-0.08, 0.124, 0.12, 1.571, 0, 0]
+
+# Place pose [x,y,z,r,p,y]
+place_pose: [0.12, -0.7, 0.8, 0, 0, 0]
+place_surface_offset: 0.0005 # place offset from table
+
+# Valid distance range when approaching an object for picking
+approach_object_min_dist: 0.01
+approach_object_max_dist: 0.1
+
+# Valid createObjectheight range when lifting an object after pick
+lift_object_min_dist: 0.01
+lift_object_max_dist: 0.1

air_moveit_config/config/air_config-3.yaml

@@ -0,0 +1,49 @@
+# Total planning attempts
+max_solutions: 10
+
+
+# Planning group and link names
+arm_group_name: "air"
+eef_name: "gripper"
+hand_group_name: "gripper"
+hand_frame: "qbhand_base_link"
+
+# Poses
+hand_open_pose: "open"
+hand_close_pose: "closed"
+arm_home_pose: "home2"
+
+# Scene frames
+world_frame: "world"
+table_reference_frame: "world"
+object_reference_frame: "world"
+surface_link: "table"
+
+# Collision object for picking
+# CYLINDER object specifications
+object_name: "47"
+object_dimensions: [0.05, 0.01] # [height, radius]
+object_pose: [0.55, -0.25, 0.7, 0, 0, 0]
+
+# Table model
+# Table model
+spawn_table: true
+table_name: "table"
+table_dimensions: [2, 2, 0.001]  # [length, width, height]
+table_pose: [0.2, -0.85, 0.63, 0, 0, 0]
+
+# Gripper grasp frame transform [x,y,z,r,p,y]
+grasp_frame_transform: [-0.05, 0.12, 0.12, 1.571, 0, 0]
+
+# Place pose [x,y,z,r,p,y]
+place_pose: [0.42, -0.77, 0.8, 0, 0, 0]
+place_surface_offset: 0.0005 # place offset from table
+
+# Valid distance range when approaching an object for picking
+approach_object_min_dist: 0.01
+approach_object_max_dist: 0.1
+
+# Valid createObjectheight range when lifting an object after pick
+lift_object_min_dist: 0.001
+lift_object_max_dist: 0.1
+

air_moveit_config/config/air_config.yaml

@@ -1,5 +1,5 @@
 # Total planning attempts
-max_solutions: 1000
+max_solutions: 10
 
 
 # Planning group and link names
@@ -11,37 +11,37 @@ hand_frame: "qbhand_base_link"
 # Poses
 hand_open_pose: "open"
 hand_close_pose: "full_closed"
-arm_home_pose: "up"
+arm_home_pose: "home2"
 
 # Scene frames
 world_frame: "world"
 table_reference_frame: "world"
 object_reference_frame: "world"
-surface_link: "table"
+surface_link: "base_link"
 
 # Collision object for picking
 # CYLINDER object specifications
-object_name: "sphere"
+object_name: "80"
 object_dimensions: [0.05, 0.01] # [height, radius]
-object_pose: [0.55, -0.25, 0.7, 0, 0, 0]
+object_pose: [0.55, -0.25, 0.61, 0, 0, 0]
 
 # Table model
-spawn_table: True
+spawn_table: true
 table_name: "table"
-table_dimensions: [0.4, 0.5, 0.2]  # [length, width, height]
-table_pose: [0.4, -0.21, 0.69, 0, 0, 0]
+table_dimensions: [2, 2, 0.001]  # [length, width, height]
+table_pose: [0.2, -0.85, 0.65, 0, 0, 0]
 
 # Gripper grasp frame transform [x,y,z,r,p,y]
-grasp_frame_transform: [0.0, 0.07, 0.13, 1.571, 0, 0]
+grasp_frame_transform: [-0.08, 0.15, 0.12, 1.571, 0, 0]
 
 # Place pose [x,y,z,r,p,y]
-place_pose: [0.59, -0.25, 0.82, 0, 0, 0]
+place_pose: [0.12, -0.86, 0.8, 0, 0, 0]
 place_surface_offset: 0.0005 # place offset from table
 
 # Valid distance range when approaching an object for picking
-approach_object_min_dist: 0.00
-approach_object_max_dist: 0.25
+approach_object_min_dist: 0.01
+approach_object_max_dist: 0.1
 
-# Valid height range when lifting an object after pick
-lift_object_min_dist: 0.00
-lift_object_max_dist: 0.15
+# Valid createObjectheight range when lifting an object after pick
+lift_object_min_dist: 0.02
+lift_object_max_dist: 0.1