A ROS package to let a TIAGo robot (mobile manipulator from PAL Robotics) grasp deformable objects (i.e. plastic bottles) with a compliant end-effector (PAL Robotics Hey-5 hand -anthropomorphic and underactuated-).
- update README
- 'Requirements'
- 'How to use'
- create a setup script/config
- stick to PEP8 coding standards
- speed up object detection
- avoid Pointcloud messages in favour of depth CompressedImages
- handle RF transform manually
- improve slowdown mechanism of the linear movement
- regularize velocity
- regularize acceleration