End of 9/4 push

Author: amalnanavati

ada_feeding/config/ada_feeding_action_servers_custom.yaml

@@ -19,14 +19,14 @@ ada_feeding_action_servers:
       MoveFromMouth.tree_kwargs.linear_speed_near_mouth: 0.08
       MoveFromMouth.tree_kwargs.max_linear_speed_to_staging_configuration: 0.15
       MoveFromMouth.tree_kwargs.staging_configuration_position:
-      - -0.4367114020802131
-      - -0.1523456553338336
-      - 0.14724472769505167
+      - -0.22162120639069535
+      - -0.35776899361246467
+      - 0.31226426005095975
       MoveFromMouth.tree_kwargs.staging_configuration_quat_xyzw:
-      - 0.15372897764638055
-      - -0.5708623692737814
-      - -0.7370779464074988
-      - 0.327413588139875
+      - 0.4113854220321883
+      - -0.5506965295805886
+      - -0.61615652377103
+      - 0.38450813393437333
       MoveToMouth.tree_kwargs.linear_speed_near_mouth: 0.06
       MoveToMouth.tree_kwargs.max_linear_speed: 0.14
       MoveToMouth.tree_kwargs.plan_distance_from_mouth:
@@ -41,17 +41,17 @@ ada_feeding_action_servers:
       - -1.617327609992979
       - 0.6628209810624257
       MoveToStagingConfiguration.tree_kwargs.goal_configuration:
-      - -1.1911872144861295
-      - 4.582556148817801
-      - 1.839602624580099
-      - -0.7605173145972737
-      - -2.7302897937802113
-      - 1.4082625402029247
+      - -1.905103471064761
+      - 4.043667100136921
+      - 1.7112971158983705
+      - -0.6656051162450218
+      - 3.2963638582364023
+      - 8.464224225109637
       planning_scene_namespace_to_use: bedside_90
     custom_namespaces:
     - bed_side_table_1
     - wheelchair_side_table_1
-    namespace_to_use: bed_side_table_1
+    namespace_to_use: wheelchair_side_table_1
     wheelchair_side_table_1:
       AcquireFood.tree_kwargs.resting_joint_positions:
       - -0.8280291806000825

ada_feeding_action_select/config/acquisition_library.yaml

@@ -22,7 +22,7 @@ actions:
   - 0.0
   - 0.0
   grasp_torque: 4.0
-  pre_force: 20.0
+  pre_force: 30.0
   pre_offset:
   - 0.0
   - 0.0
@@ -59,7 +59,7 @@ actions:
   - 0.0
   - 0.0
   grasp_torque: 4.0
-  pre_force: 20.0
+  pre_force: 30.0
   pre_offset:
   - 0.0
   - 0.0
@@ -96,7 +96,7 @@ actions:
   - 0.0
   - 0.0
   grasp_torque: 4.0
-  pre_force: 15.0
+  pre_force: 30.0
   pre_offset:
   - -0.01
   - 0.0
@@ -133,7 +133,7 @@ actions:
   - 0.0
   - 0.0
   grasp_torque: 4.0
-  pre_force: 20.0
+  pre_force: 30.0
   pre_offset:
   - 0.0
   - 0.0
@@ -170,7 +170,7 @@ actions:
   - 0.0
   - 0.0
   grasp_torque: 4.0
-  pre_force: 20.0
+  pre_force: 30.0
   pre_offset:
   - 0.0
   - 0.0
@@ -207,7 +207,7 @@ actions:
   - 0.0
   - 0.0
   grasp_torque: 4.0
-  pre_force: 15.0
+  pre_force: 30.0
   pre_offset:
   - -0.01
   - 0.0

ada_feeding_perception/config/food_on_fork_detection.yaml

@@ -39,7 +39,7 @@ food_on_fork_detection:
     # the fork gets bent or the camera extrinsics changes slightly.
     # NOTE: The fact that food-on-fork detection is sensitive to such small offsets is, in itself,
     # an indication that it needs to be improved.
-    no_fof_points_offset: [0.0, 0.0025, -0.005]
+    no_fof_points_offset: [-0.005, 0.01, -0.0025]
 
 # NOTE: If using the combined perception node, be very careful to ensure no name clashes of parameters!
 ada_feeding_perception:
@@ -82,4 +82,4 @@ ada_feeding_perception:
     # the fork gets bent or the camera extrinsics changes slightly.
     # NOTE: The fact that food-on-fork detection is sensitive to such small offsets is, in itself,
     # an indication that it needs to be improved.
-    no_fof_points_offset: [0.0, 0.0025, -0.005]
+    no_fof_points_offset: [-0.005, 0.01, -0.0025]

ada_planning_scene/config/ada_planning_scene.yaml

@@ -246,7 +246,7 @@ ada_planning_scene:
       in_front_of_face_wall: # a wall in front of the user's face so robot motions don't unnecessarily move towards them.
         primitive_type: 1 # shape_msgs/SolidPrimitive.BOX
         primitive_dims: [0.65, 0.01, 0.6]
-        position: [-0.27, 0.01, 0.30]
+        position: [-0.37, 0.01, 0.30]
         quat_xyzw: [0.0, 0.0, 0.3826834, 0.9238795]
         frame_id: root # the frame_id that the pose is relative to
         add_on_initialize: False # don't add this to the planning scene initially