add modif

Author: lia2790

box_004010020/D_062110094/box_est.csv

@@ -0,0 +1,3 @@
+0.062,0.11,0.094,0.0062,-0.075,0.047,-0.672499,0.218508,0.218508,0.672498
+0.062,0.11,0.094,0.0186,-0.075,0.047,-0.672499,0.218508,0.218508,0.672498
+0.062,0.11,0.094,-0.0062,-0.075,0.047,-0.672499,0.218508,0.218508,0.672498

box_004010020/D_062110094/box_est_0.csv

@@ -0,0 +1,3 @@
+0.062,0.11,0.094,0.0062,-0.075,0.047,-0.672498985586,0.218507995317,0.218507995317,0.672498049329
+0.062,0.11,0.094,0.0186,-0.075,0.047,-0.672498985586,0.218507995317,0.218507995317,0.672498049329
+0.062,0.11,0.094,-0.0062,-0.075,0.047,-0.672498985586,0.218507995317,0.218507995317,0.672498049329

box_004010020/D_062110094/box_est_0_simulated.csv

@@ -0,0 +1,2 @@
+0.062,0.11,0.094,0.0062,-0.075,0.047,-0.672498985586,0.218507995317,0.218507995317,0.672498049329,0.120832539479,0.106224169472,0.246529534803,0.591905735158,0.739020979047,-0.249075946415,0.203609346869,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan
+0.062,0.11,0.094,0.0186,-0.075,0.047,-0.672498985586,0.218507995317,0.218507995317,0.672498049329,0.111039252965,0.138272115408,0.223220507567,0.293462504205,0.515751670154,0.380232569614,0.709438627624,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan

box_004010020/D_062110094/box_est_simulated.csv

@@ -0,0 +1,2 @@
+0.062,0.11,0.094,0.0062,-0.075,0.047,-0.672498985586,0.218507995317,0.218507995317,0.672498049329,0.120832539479,0.106224169472,0.246529534803,0.591905735158,0.739020979047,-0.249075946415,0.203609346872,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan
+0.062,0.11,0.094,0.0186,-0.075,0.047,-0.672498985586,0.218507995317,0.218507995317,0.672498049329,0.111039252965,0.138272115408,0.223220507567,0.293462504205,0.515751670154,0.380232569614,0.709438627623,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan,nan

param/comunication_robot.yaml

@@ -1,6 +1,6 @@
-filename_in: "/bottiglia/test_itself/model_40_6/box_estimate"
+filename_in: "/box_004010020/D_062110094/box_estimate_5"
 dx_box: -0.977
-dy_box: 0.1
+dy_box: 0.0
 dz_box: 0.0
 gap_x: 0.0
 gap_y: 0.01

src/comunication_robot.cpp

@@ -258,11 +258,11 @@ int main(int argc, char** argv)
 
 		error = Eigen_error.norm();
 		std::cout << "error: " << error << std::endl;
-		// cout << "grasp !" << endl;
-		// cout << "------------------------------------" << endl;
-		// cout << " x : " << hand_pose.position.x << " y : " << hand_pose.position.y << " z : " << hand_pose.position.z << endl;
-		// cout << " qx : " << hand_pose.orientation.x << " qy : " << hand_pose.orientation.y << " qz : " << hand_pose.orientation.z << " qw : " << hand_pose.orientation.w << endl;
-		// cout << "------------------------------------" << endl;
+		cout << "grasp !" << endl;
+		cout << "------------------------------------" << endl;
+		cout << " x : " << hand_pose.position.x << " y : " << hand_pose.position.y << " z : " << hand_pose.position.z << endl;
+		cout << " qx : " << hand_pose.orientation.x << " qy : " << hand_pose.orientation.y << " qz : " << hand_pose.orientation.z << " qw : " << hand_pose.orientation.w << endl;
+		cout << "------------------------------------" << endl;
 	}
 	std::cout << "Approaching" << std::endl;
 	sleep(2.0);

urdf/cube.urdf.xacro

@@ -11,13 +11,13 @@
 		<visual>
 			<origin xyz="0 0 0" rpy="0 0 0"/>
 			<geometry>
-				<box size="0.063 0.063 0.188"/>
+				<box size="0.062 0.110 0.094"/>
 			</geometry>
 		</visual>
 		<collision>
 			<origin xyz="0 0 0" rpy="0 0 0"/>
 			<geometry>
-				<box size="0.063 0.063 0.188"/>
+				<box size="0.062 0.110 0.094"/>
 			</geometry>
 		</collision>
 	</link>