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… some quaternions that put the hand vertically downward for picking up pieces, and created a node that will print the current pose of the robot.
… coordinates are in reference to the base_link. Found new home pose after correction. Increased precision of get current pose.
…poseGoalClient.py file
…otArmPackages into motion_planning
…t (currently not working due to wrong file type for moveit)
These new files are scaled so the board is 20x20 cm not 20x20 m
…otArmPackages into motion_planning
The pieces and board have been scaled to have a 50x50 cm board as this is considered standard, there are now two sets of stl files: the centred ones have the origin of the file at the bottom in the centre of all pieces and the board (so pieces must be offset to put them on the board, the starting positions ones have all the pieces offset in their starting positions (not useful for modeling the robots interation with it but useful to quickly set up a visual chess board).
…a chess piece to add in or to loop through all available pieces
…otArmPackages into motion_planning
…robot, Added an action to open and close the hand (currently not working), Changed the add_mesh_collision_object.py to add_chess_collision_object.py that now adds the chess board and all pieces in their starting positions, found more useful quaternion orientations, added normalization of quaternions in posegoalclient to avoid errors, added pick and place demo to move a pawn, removed old chess set model files and kept only the useful ones: meshes with origin at the bottom centre of the piece, meshes with matching origins so when all loaded to the same location creates a setup chess board in starting configuration
…g. The gripper hands can be set by one value that is set for both or seperate values for each side. Added capability for sepcifying the orientation of a pose by a facing vector and an angle of twist around this vector. This was added into the poseGoalClient.py file as a test for now but can later be implemented into the main code
…user input. Changed the pick and place test to open and close the hand.
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Centered the robot on the origin. Added chess set 3D models (not the same as the set we will be using). Added the ability to add STL meshes as collision objects so that the robot can interact with the chess pieces. Added ability to attach and detach the chess pieces from the hand. Fixed the hand being over constrained so it can now move. Added ability to open and close the hand. Created a pick and place demo. Started to create a user input test where the user would say move a piece from one location to another. This will be finished once we have migrated to ROS2 Jazzy.