SimpleGrasp(GraspGenerator)

allow any GraspGenerator stage that provides "pregrasp" and "grasp"
postures as well as a target_pose for grasping.
This commit is contained in:
Robert Haschke 2018-06-01 10:13:18 +02:00
parent 2e9932cfbc
commit 92296e020f
4 changed files with 71 additions and 46 deletions

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@ -1,6 +1,7 @@
#include <moveit/task_constructor/task.h> #include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/stages/current_state.h> #include <moveit/task_constructor/stages/current_state.h>
#include <moveit/task_constructor/stages/generate_grasp_pose.h>
#include <moveit/task_constructor/stages/simple_grasp.h> #include <moveit/task_constructor/stages/simple_grasp.h>
#include <moveit/task_constructor/stages/pick.h> #include <moveit/task_constructor/stages/pick.h>
#include <moveit/task_constructor/stages/connect.h> #include <moveit/task_constructor/stages/connect.h>
@ -55,15 +56,17 @@ int main(int argc, char** argv){
t.add(std::move(connect)); t.add(std::move(connect));
// grasp generator // grasp generator
auto grasp_generator = std::make_unique<stages::SimpleGrasp>(); auto grasp_generator = std::make_unique<stages::GenerateGraspPose>("generate grasp pose");
grasp_generator->setIKFrame(Eigen::Affine3d::Identity(), "l_gripper_tool_frame");
grasp_generator->setAngleDelta(.2); grasp_generator->setAngleDelta(.2);
grasp_generator->setPreGraspPose("open");
grasp_generator->setGraspPose("closed"); auto grasp = std::make_unique<stages::SimpleGrasp>(std::move(grasp_generator));
grasp_generator->setMonitoredStage(initial_stage); grasp->setIKFrame(Eigen::Affine3d::Identity(), "l_gripper_tool_frame");
grasp->setPreGraspPose("open");
grasp->setGraspPose("closed");
grasp->setMonitoredStage(initial_stage);
// pick stage // pick stage
auto pick = std::make_unique<stages::Pick>(std::move(grasp_generator)); auto pick = std::make_unique<stages::Pick>(std::move(grasp));
pick->setProperty("eef", std::string("left_gripper")); pick->setProperty("eef", std::string("left_gripper"));
pick->setProperty("object", std::string("object")); pick->setProperty("object", std::string("object"));
geometry_msgs::TwistStamped approach; geometry_msgs::TwistStamped approach;

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@ -1,6 +1,7 @@
#include <moveit/task_constructor/task.h> #include <moveit/task_constructor/task.h>
#include <moveit/task_constructor/stages/current_state.h> #include <moveit/task_constructor/stages/current_state.h>
#include <moveit/task_constructor/stages/generate_grasp_pose.h>
#include <moveit/task_constructor/stages/simple_grasp.h> #include <moveit/task_constructor/stages/simple_grasp.h>
#include <moveit/task_constructor/stages/pick.h> #include <moveit/task_constructor/stages/pick.h>
#include <moveit/task_constructor/stages/connect.h> #include <moveit/task_constructor/stages/connect.h>
@ -55,15 +56,17 @@ int main(int argc, char** argv){
t.add(std::move(connect)); t.add(std::move(connect));
// grasp generator // grasp generator
auto grasp_generator = std::make_unique<stages::SimpleGrasp>(); auto grasp_generator = std::make_unique<stages::GenerateGraspPose>("generate grasp pose");
grasp_generator->setIKFrame(Eigen::Translation3d(.03,0,0), "s_model_tool0");
grasp_generator->setMaxIKSolutions(8);
grasp_generator->setAngleDelta(.2); grasp_generator->setAngleDelta(.2);
grasp_generator->setPreGraspPose("open");
grasp_generator->setGraspPose("closed");
grasp_generator->setMonitoredStage(initial_stage);
auto pick = std::make_unique<stages::Pick>(std::move(grasp_generator)); auto grasp = std::make_unique<stages::SimpleGrasp>(std::move(grasp_generator));
grasp->setIKFrame(Eigen::Translation3d(.03,0,0), "s_model_tool0");
grasp->setMaxIKSolutions(8);
grasp->setPreGraspPose("open");
grasp->setGraspPose("closed");
grasp->setMonitoredStage(initial_stage);
auto pick = std::make_unique<stages::Pick>(std::move(grasp));
pick->setProperty("eef", std::string("gripper")); pick->setProperty("eef", std::string("gripper"));
pick->setProperty("object", std::string("object")); pick->setProperty("object", std::string("object"));
geometry_msgs::TwistStamped approach; geometry_msgs::TwistStamped approach;

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@ -48,34 +48,45 @@ class GenerateGraspPose;
/** base class for simple grasping / ungrasping /** base class for simple grasping / ungrasping
* *
* Given a named pre-grasp and grasp posture the stage generates fully-qualified * Given a pre-grasp and grasp posture the stage generates a trajectory
* pre-grasp and grasp robot states, connected by a grasping trajectory of the end-effector. * connecting these two states by a grasping trajectory.
* The class takes a generator stage that provides the grasp pose and
* optionally the pre-grasp and grasp postures.
* *
* Grasping and UnGrasping only differs in the order of subtasks. Hence, the base class * Grasping and UnGrasping only differs in the order of subtasks. Hence, the base class
* provides the common functionality for grasping (forward = true) and ungrasping (forward = false). * provides the common functionality for grasping (forward = true) and ungrasping (forward = false).
*/ */
class SimpleGraspBase : public SerialContainer { class SimpleGraspBase : public SerialContainer {
moveit::core::RobotModelConstPtr model_; moveit::core::RobotModelConstPtr model_;
GenerateGraspPose* grasp_generator_ = nullptr; MonitoringGenerator* generator_ = nullptr;
protected:
void setup(std::unique_ptr<MonitoringGenerator>&& generator, bool forward);
public: public:
SimpleGraspBase(const std::string& name, bool forward); SimpleGraspBase(const std::string& name);
void init(const moveit::core::RobotModelConstPtr& robot_model) override; void init(const moveit::core::RobotModelConstPtr& robot_model) override;
void setMonitoredStage(Stage* monitored); void setMonitoredStage(Stage* monitored);
void setEndEffector(const std::string& eef) { void setEndEffector(const std::string& eef) {
properties().set<std::string>("eef", eef); properties().set("eef", eef);
} }
void setObject(const std::string& object) { void setObject(const std::string& object) {
properties().set<std::string>("object", object); properties().set("object", object);
} }
void setPreGraspPose(const std::string& pregrasp) { void setPreGraspPose(const std::string& pregrasp) {
properties().set<std::string>("pregrasp", pregrasp); properties().set("pregrasp", pregrasp);
} }
void setGraspPose(const std::string& grasp) { void setGraspPose(const std::string& grasp) {
properties().set<std::string>("grasp", grasp); properties().set("grasp", grasp);
}
void setPreGraspPose(const moveit_msgs::RobotState& pregrasp) {
properties().set("pregrasp", pregrasp);
}
void setGraspPose(const moveit_msgs::RobotState& grasp) {
properties().set("grasp", grasp);
} }
void setIKFrame(const geometry_msgs::PoseStamped &transform) { void setIKFrame(const geometry_msgs::PoseStamped &transform) {
@ -91,30 +102,23 @@ public:
setIKFrame(Eigen::Affine3d::Identity(), link); setIKFrame(Eigen::Affine3d::Identity(), link);
} }
void setAngleDelta(double angle_delta) {
properties().set("angle_delta", angle_delta);
}
void setMaxIKSolutions(uint32_t max_ik_solutions) { void setMaxIKSolutions(uint32_t max_ik_solutions) {
properties().set("max_ik_solutions", max_ik_solutions); properties().set("max_ik_solutions", max_ik_solutions);
} }
void setTimeout(double timeout) {
properties().set("timeout", timeout);
}
}; };
/// specialization of SimpleGraspBase to realize grasping /// specialization of SimpleGraspBase to realize grasping
class SimpleGrasp : public SimpleGraspBase { class SimpleGrasp : public SimpleGraspBase {
public: public:
SimpleGrasp(const std::string& name = "grasp") : SimpleGraspBase(name, true) {} SimpleGrasp(std::unique_ptr<MonitoringGenerator>&& generator, const std::string& name = "grasp");
}; };
/// specialization of SimpleGraspBase to realize ungrasping /// specialization of SimpleGraspBase to realize ungrasping
class SimpleUnGrasp : public SimpleGraspBase { class SimpleUnGrasp : public SimpleGraspBase {
public: public:
SimpleUnGrasp(const std::string& name = "ungrasp") : SimpleGraspBase(name, false) {} SimpleUnGrasp(std::unique_ptr<MonitoringGenerator>&& generator, const std::string& name = "ungrasp");
}; };
} } } } } }

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@ -36,7 +36,6 @@
#include <moveit/task_constructor/stages/simple_grasp.h> #include <moveit/task_constructor/stages/simple_grasp.h>
#include <moveit/task_constructor/stages/generate_grasp_pose.h>
#include <moveit/task_constructor/stages/compute_ik.h> #include <moveit/task_constructor/stages/compute_ik.h>
#include <moveit/task_constructor/stages/modify_planning_scene.h> #include <moveit/task_constructor/stages/modify_planning_scene.h>
#include <moveit/task_constructor/stages/move_to.h> #include <moveit/task_constructor/stages/move_to.h>
@ -49,24 +48,29 @@
namespace moveit { namespace task_constructor { namespace stages { namespace moveit { namespace task_constructor { namespace stages {
SimpleGraspBase::SimpleGraspBase(const std::string& name, bool forward) SimpleGraspBase::SimpleGraspBase(const std::string& name)
: SerialContainer(name) : SerialContainer(name)
{
auto &props = properties();
props.declare<boost::any>("pregrasp", "pregrasp posture");
props.declare<boost::any>("grasp", "grasp posture");
}
void SimpleGraspBase::setup(std::unique_ptr<MonitoringGenerator>&& generator, bool forward)
{ {
int insertion_position = forward ? -1 : 0; // insert children at end / front, i.e. normal or reverse order int insertion_position = forward ? -1 : 0; // insert children at end / front, i.e. normal or reverse order
{ {
auto gengrasp = std::make_unique<GenerateGraspPose>(forward ? "generate grasp pose" : "generate release pose"); generator_ = generator.get();
grasp_generator_ = gengrasp.get(); auto ik = new ComputeIK("compute ik", std::move(generator));
const std::initializer_list<std::string>& grasp_prop_names = { "eef", "pregrasp", "object" };
auto ik = std::make_unique<ComputeIK>("compute ik", std::move(gengrasp));
const std::initializer_list<std::string>& grasp_prop_names = { "eef", "pregrasp", "object", "angle_delta" };
ik->exposePropertiesOfChild(0, grasp_prop_names); ik->exposePropertiesOfChild(0, grasp_prop_names);
insert(std::move(ik), insertion_position); insert(std::unique_ptr<ComputeIK>(ik), insertion_position);
exposePropertiesOfChild(insertion_position, grasp_prop_names); exposePropertiesOfChild(insertion_position, grasp_prop_names);
exposePropertiesOfChild(insertion_position, { "max_ik_solutions", "timeout", "ik_frame" }); exposePropertiesOfChild(insertion_position, { "max_ik_solutions", "timeout", "ik_frame" });
} }
{ {
auto allow_touch = std::make_unique<ModifyPlanningScene>(forward ? "allow object collision" : "forbid object collision"); auto allow_touch = new ModifyPlanningScene(forward ? "allow object collision" : "forbid object collision");
PropertyMap& p = allow_touch->properties(); PropertyMap& p = allow_touch->properties();
p.declare<std::string>("eef"); p.declare<std::string>("eef");
p.declare<std::string>("object"); p.declare<std::string>("object");
@ -79,25 +83,25 @@ SimpleGraspBase::SimpleGraspBase(const std::string& name, bool forward)
acm.setEntry(object, scene->getRobotModel()->getEndEffector(eef) acm.setEntry(object, scene->getRobotModel()->getEndEffector(eef)
->getLinkModelNamesWithCollisionGeometry(), true); ->getLinkModelNamesWithCollisionGeometry(), true);
}); });
insert(std::move(allow_touch), insertion_position); insert(std::unique_ptr<ModifyPlanningScene>(allow_touch), insertion_position);
} }
{ {
auto pipeline = std::make_shared<solvers::PipelinePlanner>(); auto pipeline = std::make_shared<solvers::PipelinePlanner>();
pipeline->setTimeout(8.0); pipeline->setTimeout(8.0);
pipeline->setPlannerId("RRTConnectkConfigDefault"); pipeline->setPlannerId("RRTConnectkConfigDefault");
auto move = std::make_unique<MoveTo>(forward ? "close gripper" : "open gripper", pipeline); auto move = new MoveTo(forward ? "close gripper" : "open gripper", pipeline);
PropertyMap& p = move->properties(); PropertyMap& p = move->properties();
p.property("group").configureInitFrom(Stage::PARENT, [this](const PropertyMap& parent_map){ p.property("group").configureInitFrom(Stage::PARENT, [this](const PropertyMap& parent_map){
const std::string& eef = parent_map.get<std::string>("eef"); const std::string& eef = parent_map.get<std::string>("eef");
const moveit::core::JointModelGroup* jmg = model_->getEndEffector(eef); const moveit::core::JointModelGroup* jmg = model_->getEndEffector(eef);
return boost::any(jmg->getName()); return boost::any(jmg->getName());
}); });
insert(std::move(move), insertion_position); insert(std::unique_ptr<MoveTo>(move), insertion_position);
exposePropertyOfChildAs(insertion_position, "named_joint_pose", forward ? "grasp" : "pregrasp"); exposePropertyOfChildAs(insertion_position, "goal", forward ? "grasp" : "pregrasp");
} }
{ {
auto attach = std::make_unique<ModifyPlanningScene>(forward ? "attach object" : "detach object"); auto attach = new ModifyPlanningScene(forward ? "attach object" : "detach object");
PropertyMap& p = attach->properties(); PropertyMap& p = attach->properties();
p.declare<std::string>("eef"); p.declare<std::string>("eef");
p.declare<std::string>("object"); p.declare<std::string>("object");
@ -111,7 +115,7 @@ SimpleGraspBase::SimpleGraspBase(const std::string& name, bool forward)
obj.object.id = p.get<std::string>("object"); obj.object.id = p.get<std::string>("object");
scene->processAttachedCollisionObjectMsg(obj); scene->processAttachedCollisionObjectMsg(obj);
}); });
insert(std::move(attach), insertion_position); insert(std::unique_ptr<ModifyPlanningScene>(attach), insertion_position);
} }
} }
@ -123,7 +127,7 @@ void SimpleGraspBase::init(const moveit::core::RobotModelConstPtr& robot_model)
void SimpleGraspBase::setMonitoredStage(Stage* monitored) void SimpleGraspBase::setMonitoredStage(Stage* monitored)
{ {
grasp_generator_->setMonitoredStage(monitored); generator_->setMonitoredStage(monitored);
} }
void SimpleGraspBase::setIKFrame(const Eigen::Affine3d& pose, const std::string& link) { void SimpleGraspBase::setIKFrame(const Eigen::Affine3d& pose, const std::string& link) {
@ -133,4 +137,15 @@ void SimpleGraspBase::setIKFrame(const Eigen::Affine3d& pose, const std::string&
setIKFrame(pose_msg); setIKFrame(pose_msg);
} }
SimpleGrasp::SimpleGrasp(std::unique_ptr<MonitoringGenerator>&& generator, const std::string& name)
: SimpleGraspBase(name)
{
setup(std::move(generator), true);
}
SimpleUnGrasp::SimpleUnGrasp(std::unique_ptr<MonitoringGenerator>&& generator, const std::string& name)
: SimpleGraspBase(name) {
setup(std::move(generator), false);
}
} } } } } }