Select Git revision
grasp_util.cpp 15.61 KiB
//
// 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::getPickFromBack(geometry_msgs::Pose &object_pose_msg, geometry_msgs::Vector3 dimensions, geometry_msgs::Quaternion gripper_orientation_msg, double reach){
double approach_roll, approach_pitch, approach_yaw;
approach_roll = -M_PI_2;
approach_pitch = -M_PI_4;
approach_yaw = -M_PI_4;
tf2::Quaternion approach_orientation;
approach_orientation.setRPY(approach_roll, approach_pitch, approach_yaw);
return getPickFromSidePose(object_pose_msg, dimensions, gripper_orientation_msg,
approach_orientation, 0, -0.1, reach);
}
geometry_msgs::Pose
GraspUtil::getPickFromFront(geometry_msgs::Pose &object_pose_msg, geometry_msgs::Vector3 dimensions, geometry_msgs::Quaternion gripper_orientation_msg, double reach){
double approach_roll, approach_pitch, approach_yaw;
approach_roll = M_PI_2;
approach_pitch = -M_PI_4 - M_PI_2;
approach_yaw = -M_PI_4;
tf2::Quaternion approach_orientation;
approach_orientation.setRPY(approach_roll, approach_pitch, approach_yaw);
return getPickFromSidePose(object_pose_msg, dimensions, gripper_orientation_msg,
approach_orientation, 0, 0.1, reach);
}
geometry_msgs::Pose
GraspUtil::getPickFromLeft(geometry_msgs::Pose &object_pose_msg, geometry_msgs::Vector3 dimensions, geometry_msgs::Quaternion gripper_orientation_msg, double reach){
double approach_roll, approach_pitch, approach_yaw;
approach_roll = M_PI_2;
approach_pitch = -M_PI_4 - M_PI_2;
approach_yaw = -M_PI_4 - M_PI_2;
tf2::Quaternion approach_orientation;
approach_orientation.setRPY(approach_roll, approach_pitch, approach_yaw);
return getPickFromSidePose(object_pose_msg, dimensions, gripper_orientation_msg,
approach_orientation, -0.1, 0, reach);
}
geometry_msgs::Pose
GraspUtil::getPickFromRight(geometry_msgs::Pose &object_pose_msg, geometry_msgs::Vector3 dimensions, geometry_msgs::Quaternion gripper_orientation_msg, double reach){
double approach_roll, approach_pitch, approach_yaw;
approach_roll = -M_PI_2;
approach_pitch = -M_PI_4;
approach_yaw = -M_PI_4 - M_PI_2;
tf2::Quaternion approach_orientation;
approach_orientation.setRPY(approach_roll, approach_pitch, approach_yaw);
return getPickFromSidePose(object_pose_msg, dimensions, gripper_orientation_msg,
approach_orientation, 0.1, 0, reach);
}
geometry_msgs::Pose
GraspUtil::getPickFromSidePose(geometry_msgs::Pose &object_pose_msg, geometry_msgs::Vector3 dimensions, geometry_msgs::Quaternion gripper_orientation_msg,
tf2::Quaternion approach_orientation, float y_distance_diff, float x_distance_diff, 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);
tf2::Quaternion orientation = object_orientation * gripper_orientation * approach_orientation;
geometry_msgs::Pose target_pose;
target_pose.orientation = tf2::toMsg(orientation);
target_pose.position.x = object_pose_msg.position.x + x_distance_diff;
target_pose.position.y = object_pose_msg.position.y + y_distance_diff;
if(x_distance_diff > 0){
target_pose.position.x = object_pose_msg.position.x + (0.5 * dimensions.x) + FRANKA_GRIPPER_DISTANCE - reach;
}
if(x_distance_diff < 0){
target_pose.position.x = object_pose_msg.position.x - (0.5 * dimensions.x) - FRANKA_GRIPPER_DISTANCE + reach;
}
if(y_distance_diff > 0){
target_pose.position.y = object_pose_msg.position.y + (0.5 * dimensions.y) + FRANKA_GRIPPER_DISTANCE - reach;
}
if(y_distance_diff < 0){
target_pose.position.y = object_pose_msg.position.y - (0.5 * dimensions.y) - FRANKA_GRIPPER_DISTANCE + reach;
}
target_pose.position.z = object_pose_msg.position.z;
return target_pose;
}
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) << ".");
reach = 0;
}
// The pose is 10 cm straight above the object to pick. This only works on upright boxes.
geometry_msgs::Pose target_pose;
target_pose.orientation = tf2::toMsg(orientation);
target_pose.position.x = object_pose_msg.position.x;
target_pose.position.y = object_pose_msg.position.y;
target_pose.position.z = object_pose_msg.position.z + (0.5 * dimensions.z) + FRANKA_GRIPPER_DISTANCE - reach;
return target_pose;
}
bool
GraspUtil::pickFromSide(moveit::planning_interface::MoveGroupInterface &move_group, geometry_msgs::Pose &pick_pose,
shape_msgs::SolidPrimitive &object_to_pick, geometry_msgs::Vector3 &approach_direction,
double open_amount, std::string supporting_surface_id, std::string object_to_pick_id, bool plan_only) {
std::vector<moveit_msgs::Grasp> grasps;
grasps.resize(1);
grasps[0].grasp_pose.header.frame_id = "panda_link0";
grasps[0].grasp_pose.pose = pick_pose;
geometry_msgs::Vector3Stamped stamped_approach_dir;
stamped_approach_dir.vector = approach_direction;
// Setup pre-grasp approach
grasps[0].pre_grasp_approach.direction.header.frame_id = "panda_link0";
grasps[0].pre_grasp_approach.direction = stamped_approach_dir;
grasps[0].pre_grasp_approach.min_distance = 0.095;
grasps[0].pre_grasp_approach.desired_distance = 0.115;
// Setup post-grasp retreat
grasps[0].post_grasp_retreat.direction.header.frame_id = "panda_link0";
grasps[0].post_grasp_retreat.direction.vector.z = 1.0;
grasps[0].post_grasp_retreat.min_distance = 0.1;
grasps[0].post_grasp_retreat.desired_distance = 0.25;
setupOpenGripper(grasps[0].pre_grasp_posture, open_amount);
if(object_to_pick.type == shape_msgs::SolidPrimitive::CYLINDER){
if(object_to_pick.dimensions[1] >= 0.08){
ROS_ERROR("Could not grasp: Cylinder object to big.");
return false;
}
setupClosedGripper(grasps[0].grasp_posture, object_to_pick.dimensions[1]);
}else{
if (object_to_pick.dimensions[0] <= 0.08) {
setupClosedGripper(grasps[0].grasp_posture, object_to_pick.dimensions[0]);
}
if (object_to_pick.dimensions[0] > 0.08 && object_to_pick.dimensions[1] <= 0.08) {
setupClosedGripper(grasps[0].grasp_posture, object_to_pick.dimensions[1]);
}
if (object_to_pick.dimensions[0] > 0.08 && object_to_pick.dimensions[1] > 0.08) {
ROS_ERROR("Could not grasp: Object to big (in any dimension).");
return false;
}
}
move_group.setSupportSurfaceName(supporting_surface_id);
moveit_msgs::MoveItErrorCodes miec = move_group.pick(object_to_pick_id, grasps, plan_only);
if (miec.val == miec.SUCCESS) {
return true;
}
ROS_ERROR_STREAM("Error while executing pick task. MoveItErrorCode: " << miec.val);
return false;
}
bool
GraspUtil::pickFromAbove(moveit::planning_interface::MoveGroupInterface &move_group, geometry_msgs::Pose &pick_pose,
geometry_msgs::Vector3 dimensions,
double open_amount, std::string supporting_surface_id, std::string object_to_pick_id, bool plan_only) {
std::vector<moveit_msgs::Grasp> grasps;
grasps.resize(1);
grasps[0].grasp_pose.header.frame_id = "panda_link0";
grasps[0].grasp_pose.pose = pick_pose;
// Setup pre-grasp approach
grasps[0].pre_grasp_approach.direction.header.frame_id = "panda_link0";
grasps[0].pre_grasp_approach.direction.vector.z = -1.0;
grasps[0].pre_grasp_approach.min_distance = 0.095;
grasps[0].pre_grasp_approach.desired_distance = 0.115;
// Setup post-grasp retreat
grasps[0].post_grasp_retreat.direction.header.frame_id = "panda_link0";
grasps[0].post_grasp_retreat.direction.vector.z = 1.0;
grasps[0].post_grasp_retreat.min_distance = 0.1;
grasps[0].post_grasp_retreat.desired_distance = 0.25;
// Setup the opening / closing - mechanism of the gripper
setupOpenGripper(grasps[0].pre_grasp_posture, open_amount);
if (dimensions.x <= 0.08) {
setupClosedGripper(grasps[0].grasp_posture, dimensions.x);
}
if (dimensions.x > 0.08 && dimensions.y <= 0.08) {
setupClosedGripper(grasps[0].grasp_posture, dimensions.y);
}
if (dimensions.x > 0.08 && dimensions.y > 0.08) {
ROS_ERROR("Could not grasp: Object to big (in any dimension).");
return false;
}
move_group.setSupportSurfaceName(supporting_surface_id);
moveit_msgs::MoveItErrorCodes miec = move_group.pick(object_to_pick_id, grasps, plan_only);
if (miec.val == miec.SUCCESS) {
return true;
}
ROS_ERROR_STREAM("Error while executing pick task. MoveItErrorCode: " << miec.val);
return false;
}
bool
GraspUtil::placeFromSide(moveit::planning_interface::MoveGroupInterface &move_group, geometry_msgs::Pose &place_pose,
double open_amount, std::string supporting_surface_id, std::string object_to_place_id, bool plan_only){
std::vector<moveit_msgs::PlaceLocation> place_location;
place_location.resize(1);
place_location[0].place_pose.header.frame_id = "panda_link0";
place_location[0].place_pose.pose.orientation.w = 1;
place_location[0].place_pose.pose.position = place_pose.position;
place_location[0].place_pose.pose.position.z = place_location[0].place_pose.pose.position.z;
place_location[0].pre_place_approach.direction.header.frame_id = "panda_link0";
place_location[0].pre_place_approach.direction.vector.z = -1.0;
place_location[0].pre_place_approach.min_distance = 0.095;
place_location[0].pre_place_approach.desired_distance = 0.115;
place_location[0].post_place_retreat.direction.header.frame_id = "panda_link0";
place_location[0].post_place_retreat.direction.vector.z = 1.0;
place_location[0].post_place_retreat.min_distance = 0.1;
place_location[0].post_place_retreat.desired_distance = 0.25;
setupOpenGripper(place_location[0].post_place_posture, open_amount);
move_group.setSupportSurfaceName(supporting_surface_id);
moveit_msgs::MoveItErrorCodes miec = move_group.place(object_to_place_id, place_location, plan_only);
if (miec.val == miec.SUCCESS) {
return true;
}
ROS_ERROR_STREAM("Error while executing place task. MoveItErrorCode: " << miec.val);
return false;
}
bool
GraspUtil::placeFromAbove(moveit::planning_interface::MoveGroupInterface &move_group, geometry_msgs::Pose &place_pose,
double open_amount, std::string supporting_surface_id, std::string object_to_place_id, bool plan_only) {
std::vector<moveit_msgs::PlaceLocation> place_location;
place_location.resize(1);
place_location[0].place_pose.header.frame_id = "panda_link0";
// tf2::Quaternion orientation;
// orientation.setRPY(0, 0, M_PI / 2);
place_location[0].place_pose.pose.orientation.w = 1;// = tf2::toMsg(orientation);
place_location[0].place_pose.pose.position = place_pose.position;
place_location[0].pre_place_approach.direction.header.frame_id = "panda_link0";
place_location[0].pre_place_approach.direction.vector.z = -1.0;
place_location[0].pre_place_approach.min_distance = 0.095;
place_location[0].pre_place_approach.desired_distance = 0.115;
place_location[0].post_place_retreat.direction.header.frame_id = "panda_link0";
place_location[0].post_place_retreat.direction.vector.z = 1.0;
place_location[0].post_place_retreat.min_distance = 0.1;
place_location[0].post_place_retreat.desired_distance = 0.25;
setupOpenGripper(place_location[0].post_place_posture, open_amount);
move_group.setSupportSurfaceName(supporting_surface_id);
moveit_msgs::MoveItErrorCodes miec = move_group.place(object_to_place_id, place_location, plan_only);
if (miec.val == miec.SUCCESS) {
return true;
}
ROS_ERROR_STREAM("Error while executing place task. MoveItErrorCode: " << miec.val);
return false;
}
bool GraspUtil::homeGripper() {
actionlib::SimpleActionClient<franka_gripper::MoveAction> moveActionClient("franka_gripper/move", true);
if (moveActionClient.waitForServer(ros::Duration(1.0))) {
moveActionClient.cancelAllGoals();
}
actionlib::SimpleActionClient<franka_gripper::HomingAction> ac("/franka_gripper/homing", true);
if (!ac.waitForServer(ros::Duration(10.0))) {
ROS_ERROR("Gripper homing failed (action server not available).");
return false;
}
ac.cancelAllGoals();
franka_gripper::HomingGoal goal;
ac.sendGoal(goal);
if (ac.waitForResult(ros::Duration(15.0))) {
actionlib::SimpleClientGoalState state = ac.getState();
ROS_INFO_STREAM("Homing finished: " << state.toString());
return state == actionlib::SimpleClientGoalState::SUCCEEDED;
} else {
ROS_ERROR("Gripper homing failed (with timeout).");
return false;
}
}