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[WIP] Add PR2 demo of soup-from-boil #1346

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[WIP] Add PR2 demo of soup-from-boil #1346

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708yamaguchi
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I add PR2 demo to create soup from boil.

This demo is based on @Kanazawanaoaki bthesis and I add water temperature check by thermography.

I think this demo is valuable in the following points.

  • The first cooking demo in jsk_demos
  • High success rate
  • Human-Robot interaction

I will remove [WIP] if @Kanazawanaoaki think there is no problem.

@708yamaguchi
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@Affonso-Gui

708yamaguchi and others added 30 commits March 17, 2022 19:44
@708yamaguchi
Change ladle placement position
fc329e2
@708yamaguchi
Fix bugs
09f7b9c
@708yamaguchi
Fix load
9d54466
@708yamaguchi
Remove *arrow* from arrangement-at-arrange.l
e2b2e20
@708yamaguchi
Remove *arrow* from ih-at-arrange.l
6589220
@708yamaguchi
Remove *arrow* from tool-at-arrange.l
7e8a147
@708yamaguchi
Correct pot position and angle-vector for (pour-soup)
f4ee0c7
@708yamaguchi
speed up shelf knob search
a84018f
@708yamaguchi
Update shelf handling
12b5226
@708yamaguchi
Combine soup-from-boil and take-tools-off-shelf
5abefc8
@708yamaguchi
Fix up move functions
676775d
@708yamaguchi
Stable IK when putting ladle in the shelf
a101a6f
@708yamaguchi
demos can be executed with Kinematics Simulator
e36aede
@708yamaguchi
Add rostest for each demo
72353db
@708yamaguchi
Override :inverse-kinematics and assert when IK fails
e830f92
@708yamaguchi
Do not move *ri* in simulation-mode
7e033ca
@708yamaguchi
Remove old comment
4621e20
@Kanazawanaoaki
add random coords pr2 in kinematics simulator test
ad02ba8
@708yamaguchi
Make test time short by skipping *ri* functions
1206b3a
@Kanazawanaoaki
Merge pull request jsk-ros-pkg#8 from 708yamaguchi/add-random-coords
bd97aa4
@708yamaguchi
Merge pull request #5 from Kanazawanaoaki/add-random-coords
cd01152
@708yamaguchi
soup-from-boil IK test pass
5c6f071
@708yamaguchi
take-tools-off-shelf IK test pass
4f11a51
@708yamaguchi
Add (update-view) for irtviewer visualization
0758ba9
@708yamaguchi
Move (update-view) in each move function
5ad2249
@708yamaguchi
Minor changes for demo
4e98330
@708yamaguchi
Take ladle and cup from shelf (not tested with real robot)
b319c46
@708yamaguchi
Move ladle at kitchen
557ce9c
@708yamaguchi
Print force when touch is not detected for debug
7ad13a0
@708yamaguchi
Do not ask task status when interactive is nil
3c9a3ff
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3 participants
@708yamaguchi @k-okada @Kanazawanaoaki