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GeneratePlacePose
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2019, Bielefeld University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Bielefeld University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Authors: Robert Haschke
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Desc: Generator Stage to place an object at a certain pose
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*/
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#pragma once
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#include <moveit/task_constructor/stages/generate_pose.h>
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namespace moveit { namespace task_constructor { namespace stages {
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/** Simple IK pose generator to place an attached object in a specific pose
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*
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* The "pose" property, inherited from GeneratePose specifies the target pose
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* of the grasped object. This stage transforms this pose into a target pose for the ik_frame */
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class GeneratePlacePose : public GeneratePose {
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public:
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GeneratePlacePose(const std::string& name = "place pose");
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void compute() override;
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void setObject(const std::string &object) { setProperty("object", object); }
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protected:
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void onNewSolution(const SolutionBase& s) override;
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};
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} } }
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@ -6,6 +6,7 @@ add_library(${PROJECT_NAME}_stages
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${PROJECT_INCLUDE}/stages/fixed_state.h
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${PROJECT_INCLUDE}/stages/generate_pose.h
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${PROJECT_INCLUDE}/stages/generate_grasp_pose.h
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${PROJECT_INCLUDE}/stages/generate_place_pose.h
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${PROJECT_INCLUDE}/stages/compute_ik.h
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${PROJECT_INCLUDE}/stages/predicate_filter.h
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@ -21,8 +22,9 @@ add_library(${PROJECT_NAME}_stages
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current_state.cpp
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fixed_state.cpp
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generate_grasp_pose.cpp
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generate_pose.cpp
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generate_grasp_pose.cpp
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generate_place_pose.cpp
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compute_ik.cpp
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predicate_filter.cpp
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125
core/src/stages/generate_place_pose.cpp
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125
core/src/stages/generate_place_pose.cpp
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@ -0,0 +1,125 @@
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/*********************************************************************
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2019, Bielefeld University
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Bielefeld University nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Authors: Robert Haschke */
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#include <moveit/task_constructor/stages/generate_place_pose.h>
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#include <moveit/task_constructor/storage.h>
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#include <moveit/task_constructor/marker_tools.h>
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#include <rviz_marker_tools/marker_creation.h>
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#include <moveit/planning_scene/planning_scene.h>
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#include <moveit/robot_state/robot_state.h>
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#include <moveit/robot_state/attached_body.h>
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#include <Eigen/Geometry>
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#include <eigen_conversions/eigen_msg.h>
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namespace moveit { namespace task_constructor { namespace stages {
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GeneratePlacePose::GeneratePlacePose(const std::string& name)
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: GeneratePose(name)
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{
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auto& p = properties();
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p.declare<std::string>("object");
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p.declare<geometry_msgs::PoseStamped>("ik_frame");
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}
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void GeneratePlacePose::onNewSolution(const SolutionBase& s)
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{
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planning_scene::PlanningSceneConstPtr scene = s.end()->scene();
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const auto& props = properties();
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const std::string& object = props.get<std::string>("object");
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std::string msg;
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if (!scene->getCurrentState().hasAttachedBody(object))
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msg = "'" + object + "' is not an attached object";
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if (scene->getCurrentState().getAttachedBody(object)->getFixedTransforms().empty())
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msg = "'" + object + "' has no associated shapes";
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if (!msg.empty()) {
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if (storeFailures()) {
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InterfaceState state(scene);
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SubTrajectory solution;
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solution.markAsFailure();
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solution.setComment(msg);
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spawn(std::move(state), std::move(solution));
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} else
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ROS_WARN_STREAM_NAMED("GeneratePlacePose", msg);
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return;
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}
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upstream_solutions_.push(&s);
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}
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void GeneratePlacePose::compute() {
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if (upstream_solutions_.empty())
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return;
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const SolutionBase& s = *upstream_solutions_.pop();
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planning_scene::PlanningSceneConstPtr scene = s.end()->scene()->diff();
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const moveit::core::RobotState& robot_state = scene->getCurrentState();
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const auto& props = properties();
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const moveit::core::AttachedBody* object
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= robot_state.getAttachedBody(props.get<std::string>("object"));
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// current object_pose w.r.t. planning frame
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const Eigen::Isometry3d& object_pose = object->getGlobalCollisionBodyTransforms()[0];
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const geometry_msgs::PoseStamped& pose_msg = props.get<geometry_msgs::PoseStamped>("pose");
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Eigen::Isometry3d target_pose;
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tf::poseMsgToEigen(pose_msg.pose, target_pose);
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// target pose w.r.t. planning frame
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scene->getTransforms().transformPose(pose_msg.header.frame_id, target_pose, target_pose);
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const geometry_msgs::PoseStamped& ik_frame_msg = props.get<geometry_msgs::PoseStamped>("ik_frame");
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Eigen::Isometry3d ik_frame;
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tf::poseMsgToEigen(ik_frame_msg.pose, ik_frame);
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ik_frame = robot_state.getGlobalLinkTransform(ik_frame_msg.header.frame_id) * ik_frame;
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// target ik_frame's pose w.r.t. planning frame
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geometry_msgs::PoseStamped target_pose_msg;
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target_pose_msg.header.frame_id = scene->getPlanningFrame();
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tf::poseEigenToMsg(target_pose * object_pose.inverse() * ik_frame, target_pose_msg.pose);
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InterfaceState state(scene);
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forwardProperties(*s.end(), state); // forward properties from inner solutions
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state.properties().set("target_pose", target_pose_msg);
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SubTrajectory trajectory;
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trajectory.setCost(0.0);
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rviz_marker_tools::appendFrame(trajectory.markers(), target_pose_msg, 0.1, "place frame");
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spawn(std::move(state), std::move(trajectory));
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}
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} } }
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