Moonshot mobile manipulation #20
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roundness_threshold -> threshold on the roundness of the object before using more pseudo cardinal points nb_cardinal_levels -> number of levels of pseudo cardinal points
…esn't exist in OPC when afar)
…meters) or 2D image position (pixels)
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Add a feature to enable pose ranking from afar to plan the best robot base pose to grasp an object.
new rpc command
ask_best_base_pose (<x> <y> <z> <ux> <uy> <uz> <t>) <hand> (<np> <no>): this command is a way to access an internal function of the module. It can be used to find an optimal base pose that enables grasping an object at pose(<x> <y> <z> <ux> <uy> <uz> <t>)with hand<hand>("right" or "left"). It forwards a request toaction-gatewayincluding the approach parameters (pre-grasp hand pose). Noise parameters (position noise and orientation noise ) for a more robust optimal base position planning are optional.new rpc command
mobile_grasp_pose <objectNameOPC> <hand>: this command is similar tograsp_posebut with specific communications and ranking process for mobile manipulation with R1. This feature is integrated in the previous pipeline such that it does not modify the previous pose ranking for grasping.Note: grasping pose pruning conditions concerning the hand axis pointing upwards have been changed to be more flexible (less specific to icub hands). This is the only change that can have an influence on grasping with icub and may require check on icub.
Note: this PR also includes the PR about pseudo-cardinal points #17, which is not described here but included changes in the whole pipeline.