grasp_util.cpp

//
// Created by sebastian on 19.05.20.
//
#include "grasp_util.h"
#include <tf2/transform_datatypes.h>
#include <franka_gripper/HomingAction.h>
#include <franka_gripper/MoveAction.h>
#include <franka_gripper/HomingGoal.h>

void GraspUtil::setupOpenGripper(trajectory_msgs::JointTrajectory& posture, double amount)
{
  posture.joint_names.resize(2);
  posture.joint_names[0] = "panda_finger_joint1";
  posture.joint_names[1] = "panda_finger_joint2";

  posture.points.resize(1);
  posture.points[0].positions.resize(2);
  posture.points[0].positions[0] = amount / 2;
  posture.points[0].positions[1] = amount / 2;
  posture.points[0].time_from_start = ros::Duration(0.5);
}

void GraspUtil::setupClosedGripper(trajectory_msgs::JointTrajectory& posture, double amount)
{
  posture.joint_names.resize(2);
  posture.joint_names[0] = "panda_finger_joint1";
  posture.joint_names[1] = "panda_finger_joint2";

  posture.points.resize(1);
  posture.points[0].positions.resize(2);
  posture.points[0].positions[0] = amount / 2;
  posture.points[0].positions[1] = amount / 2;
  posture.points[0].time_from_start = ros::Duration(0.5);
}

geometry_msgs::Pose GraspUtil::getPickFromAbovePose(geometry_msgs::Pose& object_pose_msg,
                                                    geometry_msgs::Vector3 dimensions,
                                                    geometry_msgs::Quaternion gripper_orientation_msg, double reach)
{
  // object orientation
  tf2::Quaternion object_orientation;
  tf2::fromMsg(object_pose_msg.orientation, object_orientation);

  // gripper orientation
  tf2::Quaternion gripper_orientation;
  tf2::fromMsg(gripper_orientation_msg, gripper_orientation);

  // approach orientation
  double approach_roll, approach_pitch, approach_yaw;
  approach_roll = M_PI;  // turn upside down
  approach_pitch = 0;
  approach_yaw = 0;
  tf2::Quaternion approach_orientation;
  approach_orientation.setRPY(approach_roll, approach_pitch, approach_yaw);

  tf2::Quaternion orientation = object_orientation * gripper_orientation * approach_orientation;

  // Actually, the maximum reach should be FRANKA_GRIPPER_FINGER_LENGTH - FRANKA_GRIPPER_FINGERTIP_SIZE/2, but half a
  // finger length is considered a safety distance.
  if (reach > FRANKA_GRIPPER_FINGER_LENGTH - FRANKA_GRIPPER_FINGERTIP_SIZE)
  {
    ROS_WARN_STREAM("Reach around object reduced from "
                    << reach << " to " << FRANKA_GRIPPER_FINGER_LENGTH - FRANKA_GRIPPER_FINGERTIP_SIZE << ".");
    reach = FRANKA_GRIPPER_FINGER_LENGTH - FRANKA_GRIPPER_FINGERTIP_SIZE;
  }
  else if (reach < -FRANKA_GRIPPER_FINGERTIP_SIZE / 2)
  {
    ROS_WARN_STREAM("Reach around object increased from " << reach << " to 0."
                                                          << ". Minimum allowed reach is "
                                                          << (-FRANKA_GRIPPER_FINGERTIP_SIZE / 2) << ".");