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davetcoleman
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JWhitleyWork
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Rebased to pick up CI fix. |
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| _favorite="false" | ||
| > | ||
| <Control ID="Sequence" name="root"> | ||
| <Decorator ID="ForceSuccess"> |
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Was this an intentional change? I thought the new objects and grasp poses were allowing the stall torque setting to report grip success.
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yes, this was a sequence with 1 child, which was silly.
then i added force success because many times it would stall out even though it had a fine grip. i think the new medicine bottles i added are wider, so the previous numbers wouldn't work well for them
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I dont understand why the stall setting isn't triggering a success...maybe it is not working? https://github.com/PickNikRobotics/moveit_pro_example_ws/blob/main/src/lab_sim/config/control/picknik_ur.ros2_control.yaml#L93-L94
If we make this force success change as a bandaid for lab_sim training because perhaps underpowered systems are having mujoco perf problems, I am ok with that, but we should prob also reduce the timeout so people aren't waiting 15sec for a gripper call to end.
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Perhaps setting a non-default stall_velocity_threshold will make the stall feature work? by default it is 0.001 and maybe we need it to be more like 0.01
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Or perhaps we dont have the mujoco gripper configured to report velocity. I would do ros2 topic echo /joint_states and make sure there is a vel field for the robotiq_85_left_knuckle_joint
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simplescreenrecorder-2026-03-11_15.08.17.mp4
I collected some plotjuggler data to see what is going on
- Wrap Open/Close Gripper in ForceSuccess instead of Sequence - Replace _Scan Scene and Scan Multiple Views with Scan Scene - Multiple Point Clouds - Rename Stack Blocks with ICP to Stack Objects with ICP - Rename show_grasp_link to Visualize Grasp Link - Remove Pick And Place Example (superseded) - Recategorize pick/place subtrees to Manipulation - Remove redundant _favorite="false" from subtrees - Make Move Along Square runnable Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
Rename "Above Pick Cube" to "Above Pick Object" in ur_waypoints.yaml to match the updated objective references. Co-Authored-By: Claude Opus 4.6 <noreply@anthropic.com>
nbbrooks
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rebased to pull in dependency fix |
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@davetcoleman the Force Success may no longer be necessary, I have tuned the stall velocity. |
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Summary
_Scan SceneandScan Multiple ViewswithScan Scene - Multiple Point CloudsStack Blocks with ICPtoStack Objects with ICPshow_grasp_linktoVisualize Grasp LinkPick And Place Example(superseded)_favorite="false"from subtreesMove Along SquarerunnableTest plan
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