[armar6] reintegrated armar into pycram #144
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…alculate the grasp offset for objects, and to adjust the grasp quaternion of the robot depending on the rotation of the object and the specified Grasp
…y from a given object. also adds a function that silences warnings when loading urdfs by overriding the on_error function of the 3rd party module used
…colours each voxel based on its weight
…Joints, not just prismatic, and may move base instead of arm for opening. MoveHead now accesses links/joints differently
…iption utility functions added earlier
…tmaps weights may now be prioritized by using the new '*=' operation. gaussian costmaps now also receive a 'distance' parameter, which sets the distance how far from the center the peak of the gaussian will be
…reachability validator now correctly validates retract poses as well
…late reaching poses no matter the object orientation, used grasp, or robot toolframe orientation
…tly, no matter the object orientation, used grasp, or robot toolframe orientation. now also generalized the pre-pose/retracting-pose calculation and now calculates which side of the object faces the robot, and automatically adjusts the grasp based on that. Also adjusted Opening and Closing to now support two different poses for interacting with containers
sunava
approved these changes
Nov 26, 2024
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added armar robot description.
the default processmodules should all work as is, but if something comes up there are examples of how to add a specific process module inside other process module files, for example "donbot".
For this to work, you will need to approve the iai_robots PR i just opened at code-iai/iai_robots#44
The robot name is written with a capital A, so "Armar6", and the launchfile is started using the param "robot:=armar"