Initial demo setup for HPP pick and place plan #43
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…e' into hpp_test_code
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MaximilienNaveau
previously approved these changes
Mar 3, 2025
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I'll let @kzorina integrate the changes related to the xacro files and test on her side. The remaining comments are all either no work or a very small work. I'm fine merging quickly after that. It shouldn't take very long. |
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I am fine keeping it as a PR to solve these small issues for now as long as it doesn't impair your abilities to collaborate. |
This was referenced Mar 5, 2025
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MaximilienNaveau
approved these changes
Mar 5, 2025
jmirabel
approved these changes
Mar 5, 2025
MaximilienNaveau
approved these changes
Mar 6, 2025
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The code is adapted and simplifeid a bit from
https://github.com/TheoMF/agimus-demos-franka-manipulation/blob/working/script_hpp.py
For now only works in pick and place scenario with hardcoded start and goal object poses.
There is also an obstacle, but so far I moved it far away
This PR is also based on PR that Max was doing for orchestrator