[hsrb] changed naming and some description parts

src/pycram/process_modules/__init__.py

@@ -1,7 +1,7 @@
 from .pr2_process_modules import Pr2Manager
 from .boxy_process_modules import BoxyManager
 from .donbot_process_modules import DonbotManager
-from .hsr_process_modules import HSRBManager
+from .hsrb_process_modules import HSRBManager
 from .default_process_modules import DefaultManager
 from .stretch_process_modules import StretchManager
 

src/pycram/robot_descriptions/__init__.py

@@ -5,7 +5,7 @@
 
 from .boxy_description import BoxyDescription
 from .donbot_description import DonbotDescription
-from .hsr_description import HSRDescription
+from .hsrb_description import HSRBDescription
 from .pr2_description import PR2Description
 from .ur5_description import UR5Description
 from .tiago_description import TiagoDescription
@@ -56,8 +56,8 @@ def update_robot_description(robot_name=None, from_ros=None):
         description = PR2Description
     elif 'boxy' in robot:
         description = BoxyDescription
-    elif 'hsr' in robot:
-        description = HSRDescription
+    elif 'hsrb' in robot:
+        description = HSRBDescription
     elif "ur5_robotiq" in robot:
         description = UR5Description
     elif "tiago_dual" in robot:

src/pycram/robot_descriptions/hsr_description.py → src/pycram/robot_descriptions/hsrb_description.py

@@ -1,10 +1,9 @@
 from ..robot_description import *
 
 
-class HSRDescription(RobotDescription):
+class HSRBDescription(RobotDescription):
 
     def __init__(self):
-
         super().__init__("hsrb", "base_footprint", "base_link", "arm_lift_link", "arm_lift_joint")
         # Camera
         head_center_camera = CameraDescription("head_center_camera_frame",
@@ -25,25 +24,29 @@ def __init__(self):
         # Neck
         neck_links = ["head_pan_link", "head_tilt_link"]
         neck_joints = ["head_pan_joint", "head_tilt_joint"]
-        neck_forward = {"forward": [0.0, 0.0], "down": [0.0, -0.7]}
+        neck_forward = {"forward": [0.0, 0.0], "down": [0.0, 0, 0]}
         neck_chain = ChainDescription("neck", neck_joints, neck_links, static_joint_states=neck_forward)
         self.add_chain("neck", neck_chain)
         # Arm
         arm_joints = ["arm_flex_joint", "arm_roll_joint", "wrist_flex_joint", "wrist_roll_joint"]
         arm_links = ["arm_flex_link", "arm_roll_link", "wrist_flex_link", "wrist_roll_link"]
         arm_carry = {"park": [0, 1.5, -1.85, 0]}
         gripper_links = ["hand_l_distal_link", "hand_l_spring_proximal_link", "hand_palm_link",
-                         "hand_r_distal_link", "hand_r_spring_proximal_link"]
-        gripper_joints = ["hand_motor_joint"]
+                         "hand_r_distal_link", "hand_r_spring_proximal_link", "hand_gripper_tool_frame"]
+        gripper_joints = ["hand_l_proximal_joint", "hand_r_proximal_joint", "hand_motor_joint"]
         gripper = GripperDescription("gripper", gripper_links=gripper_links, gripper_joints=gripper_joints,
                                      gripper_meter_to_jnt_multiplier=1.0, gripper_minimal_position=0.0,
                                      gripper_convergence_delta=0.001)
         arm_chain = ChainDescription("left", arm_joints, arm_links, static_joint_states=arm_carry)
         arm_inter = InteractionDescription(arm_chain, "wrist_roll_link")
-        arm_manip = ManipulatorDescription(arm_inter, tool_frame="gripper_tool_frame", gripper_description=gripper)
-        self.add_chain("left", arm_manip)
+        arm_manip = ManipulatorDescription(arm_inter, tool_frame="hand_gripper_tool_frame", gripper_description=gripper)
+
         self.add_static_gripper_chains("left", {"open": [0.3], "close": [0.0]})
+        self.grasps = GraspingDescription(
+            {"front": [-1, 0, -1, 0],
+             "left": [0, -1, 1, 0],
+             "right": [0, -1, -1, 0.0],
+             "top": [-1, 0, 0, 0]})
 
-    def get_camera_frame(self, name="head_center_camera"):
-        # TODO: Hacky since only one optical camera frame from pr2 is used
+    def get_camera_frame(self, name="head_center_camera_frame"):
         return super().get_camera_frame(name)