End of 9/6 dinner push

Author: amalnanavati

ada_feeding/config/ada_feeding_action_servers_custom.yaml

@@ -1,6 +1,23 @@
 # This file is auto-generated by create_action_servers.py
 ada_feeding_action_servers:
   ros__parameters:
+    Stand:
+      MoveFromMouth.tree_kwargs.staging_configuration_position:
+      - 0.28323
+      - 0.07289
+      - 0.69509
+      MoveFromMouth.tree_kwargs.staging_configuration_quat_xyzw:
+      - 0.00472
+      - 0.69757
+      - 0.71645
+      - -0.00811
+      MoveToStagingConfiguration.tree_kwargs.goal_configuration:
+      - -2.32526
+      - 4.456298
+      - 4.16769
+      - 1.53262
+      - -2.18359
+      - -2.19525
     bed_side_table_1:
       AcquireFood.tree_kwargs.resting_joint_positions:
       - -1.9742708245801905
@@ -51,7 +68,8 @@ ada_feeding_action_servers:
     custom_namespaces:
     - bed_side_table_1
     - wheelchair_side_table_1
-    namespace_to_use: wheelchair_side_table_1
+    - Stand
+    namespace_to_use: Stand
     wheelchair_side_table_1:
       AcquireFood.tree_kwargs.resting_joint_positions:
       - -0.8280291806000825

ada_feeding/config/ada_feeding_action_servers_default.yaml

@@ -6,7 +6,7 @@ ada_feeding_action_servers:
 
     default:
       # TODO: Post-deployment, change this back!
-      planning_scene_namespace_to_use: seated_90
+      planning_scene_namespace_to_use: seated
 
       # A list of the names of the action servers to create. Each one must have
       # it's own parameters (below) specifying action_type and tree_class.
@@ -59,12 +59,13 @@ ada_feeding_action_servers:
           - max_velocity_scaling_to_resting_configuration
         tree_kwargs:
           resting_joint_positions: # required
-            - -1.94672 # j2n6s200_joint_1
-            -  2.51268 # j2n6s200_joint_2
-            -  0.35653 # j2n6s200_joint_3
-            - -4.76501 # j2n6s200_joint_4
-            -  5.99991 # j2n6s200_joint_5
-            -  4.99555 # j2n6s200_joint_6
+            # Front-staging configuration -- Shorter
+            - -2.32526
+            - 4.456298
+            - 4.16769
+            - 1.53262
+            - -2.18359
+            - -2.19525
           max_velocity_scaling_move_above: 1.0 # m/s
           max_velocity_scaling_move_into: 1.0 # m/s
           max_velocity_scaling_to_resting_configuration: 1.0 # m/s
@@ -84,12 +85,13 @@ ada_feeding_action_servers:
           - max_velocity_scaling_factor
         tree_kwargs: # optional
           goal_configuration: # required
-            - -1.94672 # j2n6s200_joint_1
-            -  2.51268 # j2n6s200_joint_2
-            -  0.35653 # j2n6s200_joint_3
-            - -4.76501 # j2n6s200_joint_4
-            -  5.99991 # j2n6s200_joint_5
-            -  4.99555 # j2n6s200_joint_6
+            # Front-staging configuration -- Shorter
+            - -2.32526
+            - 4.456298
+            - 4.16769
+            - 1.53262
+            - -2.18359
+            - -2.19525
           orientation_constraint_quaternion: # perpendicular to the base link
             - 0.707168 # x
             - 0.0 # y

ada_feeding_action_select/config/acquisition_library.yaml

@@ -12,15 +12,15 @@ actions:
   - 0.08
   ext_torque: 4.0
   grasp_angular:
+  - -0.4
   - 0.0
   - 0.0
-  - 0.0
-  grasp_duration: 0.0
+  grasp_duration: 1.5
   grasp_force: 15.0
   grasp_linear:
   - 0.0
   - 0.0
-  - 0.0
+  - 0.02
   grasp_torque: 4.0
   pre_force: 30.0
   pre_offset:

ada_planning_scene/config/ada_planning_scene.yaml

@@ -25,7 +25,7 @@ ada_planning_scene:
       - bedside
       - seated_90
       - bedside_90
-    namespace_to_use: bedside_90 # seated_90 # 
+    namespace_to_use: seated # bedside_90 # seated_90 # 
 
     ############################################################################
     # Parameters related to the PlanningSceneInitializer class