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I'd like to use the PR2_grasp_adjust package and associated service call GraspAdjust. However, I can't figure out what to do with the Grasp message once the service returns. Is there a particular service that takes Grasp messages?
A Grasp can be passed on to the PickupAction, serviced by the object_manipulator. You can see an example of calling that action here:
http://www.ros.org/wiki/pr2_tabletop_manipulation_apps/Tutorials/Writing%20a%20Simple%20Pick%20and%20Place%20Application
Note that, unlike the example, you will be populating the desired_grasps field of the PickupGoal with your computed grasp.
Another example can be found in the pr2_interactive_manipulation package, in the file that Adam mentioned above.
If you are successfully getting grasps back from Grasp Adjust, then you'll need to pass those to a grasp executor. I'm a little fuzzy on how the grasp pipeline works downstream from the planners; object_manipulator has a node that will execute object pickup actions. A usage example is the pickup_client in pr2_interactive_manipulation/src/interactive_manipulation_backend.cpp
If you are working in Python, though, I think Kaijen might have some other handy interfaces for executing grasps. I don't really remember where those are though.
Asked: 2012-04-03 00:16:21 -0500
Seen: 487 times
Last updated: Apr 03 '12
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