moveit_task_constructor/demo/src/pick_place_task.cpp
2024-07-06 19:59:05 +02:00

521 lines
22 KiB
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/*********************************************************************
* BSD 3-Clause License
*
* Copyright (c) 2019 PickNik LLC.
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* * Redistributions of source code must retain the above copyright notice, this
* list of conditions and the following disclaimer.
*
* * Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
*
* * Neither the name of the copyright holder nor the names of its
* contributors may be used to endorse or promote products derived from
* this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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*********************************************************************/
/* Author: Henning Kayser, Simon Goldstein
Desc: A demo to show MoveIt Task Constructor in action
*/
#include <moveit_task_constructor_demo/pick_place_task.h>
#include <rosparam_shortcuts/rosparam_shortcuts.h>
namespace moveit_task_constructor_demo {
constexpr char LOGNAME[] = "moveit_task_constructor_demo";
constexpr char PickPlaceTask::LOGNAME[];
void spawnObject(moveit::planning_interface::PlanningSceneInterface& psi, const moveit_msgs::CollisionObject& object) {
if (!psi.applyCollisionObject(object))
throw std::runtime_error("Failed to spawn object: " + object.id);
}
moveit_msgs::CollisionObject createTable(const ros::NodeHandle& pnh) {
std::string table_name, table_reference_frame;
std::vector<double> table_dimensions;
geometry_msgs::Pose pose;
std::size_t errors = 0;
errors += !rosparam_shortcuts::get(LOGNAME, pnh, "table_name", table_name);
errors += !rosparam_shortcuts::get(LOGNAME, pnh, "table_reference_frame", table_reference_frame);
errors += !rosparam_shortcuts::get(LOGNAME, pnh, "table_dimensions", table_dimensions);
errors += !rosparam_shortcuts::get(LOGNAME, pnh, "table_pose", pose);
rosparam_shortcuts::shutdownIfError(LOGNAME, errors);
moveit_msgs::CollisionObject object;
object.id = table_name;
object.header.frame_id = table_reference_frame;
object.primitives.resize(1);
object.primitives[0].type = shape_msgs::SolidPrimitive::BOX;
object.primitives[0].dimensions = table_dimensions;
pose.position.z -= 0.5 * table_dimensions[2]; // align surface with world
object.primitive_poses.push_back(pose);
return object;
}
moveit_msgs::CollisionObject createObject(const ros::NodeHandle& pnh) {
std::string object_name, object_reference_frame;
std::vector<double> object_dimensions;
geometry_msgs::Pose pose;
std::size_t error = 0;
error += !rosparam_shortcuts::get(LOGNAME, pnh, "object_name", object_name);
error += !rosparam_shortcuts::get(LOGNAME, pnh, "object_reference_frame", object_reference_frame);
error += !rosparam_shortcuts::get(LOGNAME, pnh, "object_dimensions", object_dimensions);
error += !rosparam_shortcuts::get(LOGNAME, pnh, "object_pose", pose);
rosparam_shortcuts::shutdownIfError(LOGNAME, error);
moveit_msgs::CollisionObject object;
object.id = object_name;
object.header.frame_id = object_reference_frame;
object.primitives.resize(1);
object.primitives[0].type = shape_msgs::SolidPrimitive::CYLINDER;
object.primitives[0].dimensions = object_dimensions;
pose.position.z += 0.5 * object_dimensions[0];
object.primitive_poses.push_back(pose);
return object;
}
void setupDemoScene(ros::NodeHandle& pnh) {
// Add table and object to planning scene
ros::Duration(1.0).sleep(); // Wait for ApplyPlanningScene service
moveit::planning_interface::PlanningSceneInterface psi;
if (pnh.param("spawn_table", true))
spawnObject(psi, createTable(pnh));
spawnObject(psi, createObject(pnh));
}
PickPlaceTask::PickPlaceTask(const std::string& task_name, const ros::NodeHandle& pnh)
: pnh_(pnh), task_name_(task_name) {
loadParameters();
}
void PickPlaceTask::loadParameters() {
/****************************************************
* *
* Load Parameters *
* *
***************************************************/
ROS_INFO_NAMED(LOGNAME, "Loading task parameters");
// Planning group properties
size_t errors = 0;
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "arm_group_name", arm_group_name_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "hand_group_name", hand_group_name_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "eef_name", eef_name_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "hand_frame", hand_frame_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "world_frame", world_frame_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "grasp_frame_transform", grasp_frame_transform_);
// Predefined pose targets
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "hand_open_pose", hand_open_pose_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "hand_close_pose", hand_close_pose_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "arm_home_pose", arm_home_pose_);
// Target object
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "object_name", object_name_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "object_dimensions", object_dimensions_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "object_reference_frame", object_reference_frame_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "surface_link", surface_link_);
support_surfaces_ = { surface_link_ };
// Pick/Place metrics
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "approach_object_min_dist", approach_object_min_dist_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "approach_object_max_dist", approach_object_max_dist_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "lift_object_min_dist", lift_object_min_dist_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "lift_object_max_dist", lift_object_max_dist_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "place_surface_offset", place_surface_offset_);
errors += !rosparam_shortcuts::get(LOGNAME, pnh_, "place_pose", place_pose_);
rosparam_shortcuts::shutdownIfError(LOGNAME, errors);
}
// Initialize the task pipeline, defining individual movement stages
bool PickPlaceTask::init() {
ROS_INFO_NAMED(LOGNAME, "Initializing task pipeline");
const std::string object = object_name_;
// Reset ROS introspection before constructing the new object
// TODO(v4hn): global storage for Introspection services to enable one-liner
task_.reset();
task_.reset(new moveit::task_constructor::Task());
// Individual movement stages are collected within the Task object
Task& t = *task_;
t.stages()->setName(task_name_);
t.loadRobotModel();
/* Create planners used in various stages. Various options are available,
namely Cartesian, MoveIt pipeline, and joint interpolation. */
// Sampling planner
auto sampling_planner = std::make_shared<solvers::PipelinePlanner>();
sampling_planner->setProperty("goal_joint_tolerance", 1e-5);
// Cartesian planner
auto cartesian_planner = std::make_shared<solvers::CartesianPath>();
cartesian_planner->setMaxVelocityScalingFactor(1.0);
cartesian_planner->setMaxAccelerationScalingFactor(1.0);
cartesian_planner->setStepSize(.01);
// Set task properties
t.setProperty("group", arm_group_name_);
t.setProperty("eef", eef_name_);
t.setProperty("hand", hand_group_name_);
t.setProperty("hand_grasping_frame", hand_frame_);
t.setProperty("ik_frame", hand_frame_);
/****************************************************
* *
* Current State *
* *
***************************************************/
{
auto current_state = std::make_unique<stages::CurrentState>("current state");
// Verify that object is not attached
auto applicability_filter =
std::make_unique<stages::PredicateFilter>("applicability test", std::move(current_state));
applicability_filter->setPredicate([object](const SolutionBase& s, std::string& comment) {
if (s.start()->scene()->getCurrentState().hasAttachedBody(object)) {
comment = "object with id '" + object + "' is already attached and cannot be picked";
return false;
}
return true;
});
t.add(std::move(applicability_filter));
}
/****************************************************
* *
* Open Hand *
* *
***************************************************/
Stage* initial_state_ptr = nullptr;
{
auto stage = std::make_unique<stages::MoveTo>("open hand", sampling_planner);
stage->setGroup(hand_group_name_);
stage->setGoal(hand_open_pose_);
initial_state_ptr = stage.get(); // remember start state for monitoring grasp pose generator
t.add(std::move(stage));
}
/****************************************************
* *
* Move to Pick *
* *
***************************************************/
// Connect initial open-hand state with pre-grasp pose defined in the following
{
auto stage = std::make_unique<stages::Connect>(
"move to pick", stages::Connect::GroupPlannerVector{ { arm_group_name_, sampling_planner } });
stage->setTimeout(5.0);
stage->properties().configureInitFrom(Stage::PARENT);
t.add(std::move(stage));
}
/****************************************************
* *
* Pick Object *
* *
***************************************************/
Stage* pick_stage_ptr = nullptr;
{
// A SerialContainer combines several sub-stages, here for picking the object
auto grasp = std::make_unique<SerialContainer>("pick object");
t.properties().exposeTo(grasp->properties(), { "eef", "hand", "group", "ik_frame" });
grasp->properties().configureInitFrom(Stage::PARENT, { "eef", "hand", "group", "ik_frame" });
/****************************************************
---- * Approach Object *
***************************************************/
{
// Move the eef link forward along its z-axis by an amount within the given min-max range
auto stage = std::make_unique<stages::MoveRelative>("approach object", cartesian_planner);
stage->properties().set("marker_ns", "approach_object");
stage->properties().set("link", hand_frame_); // link to perform IK for
stage->properties().configureInitFrom(Stage::PARENT, { "group" }); // inherit group from parent stage
stage->setMinMaxDistance(approach_object_min_dist_, approach_object_max_dist_);
// Set hand forward direction
geometry_msgs::Vector3Stamped vec;
vec.header.frame_id = hand_frame_;
vec.vector.z = 1.0;
stage->setDirection(vec);
grasp->insert(std::move(stage));
}
/****************************************************
---- * Generate Grasp Pose *
***************************************************/
{
// Sample grasp pose candidates in angle increments around the z-axis of the object
auto stage = std::make_unique<stages::GenerateGraspPose>("generate grasp pose");
stage->properties().configureInitFrom(Stage::PARENT);
stage->properties().set("marker_ns", "grasp_pose");
stage->setPreGraspPose(hand_open_pose_);
stage->setObject(object); // object to sample grasps for
stage->setAngleDelta(M_PI / 12);
stage->setMonitoredStage(initial_state_ptr); // hook into successful initial-phase solutions
// Compute IK for sampled grasp poses
auto wrapper = std::make_unique<stages::ComputeIK>("grasp pose IK", std::move(stage));
wrapper->setMaxIKSolutions(8); // limit number of solutions
wrapper->setMinSolutionDistance(1.0);
wrapper->setIKFrame(grasp_frame_transform_, hand_frame_); // define virtual frame to reach the target_pose
wrapper->properties().configureInitFrom(Stage::PARENT, { "eef", "group" }); // inherit properties from parent
wrapper->properties().configureInitFrom(Stage::INTERFACE,
{ "target_pose" }); // inherit property from child solution
grasp->insert(std::move(wrapper));
}
/****************************************************
---- * Allow Collision (hand object) *
***************************************************/
{
// Modify planning scene (w/o altering the robot's pose) to allow touching the object for picking
auto stage = std::make_unique<stages::ModifyPlanningScene>("allow collision (hand,object)");
stage->allowCollisions(
object, t.getRobotModel()->getJointModelGroup(hand_group_name_)->getLinkModelNamesWithCollisionGeometry(),
true);
grasp->insert(std::move(stage));
}
/****************************************************
---- * Close Hand *
***************************************************/
{
auto stage = std::make_unique<stages::MoveTo>("close hand", sampling_planner);
stage->setGroup(hand_group_name_);
stage->setGoal(hand_close_pose_);
grasp->insert(std::move(stage));
}
/****************************************************
.... * Attach Object *
***************************************************/
{
auto stage = std::make_unique<stages::ModifyPlanningScene>("attach object");
stage->attachObject(object, hand_frame_); // attach object to hand_frame_
grasp->insert(std::move(stage));
}
/****************************************************
.... * Allow collision (object support) *
***************************************************/
{
auto stage = std::make_unique<stages::ModifyPlanningScene>("allow collision (object,support)");
stage->allowCollisions({ object }, support_surfaces_, true);
grasp->insert(std::move(stage));
}
/****************************************************
.... * Lift object *
***************************************************/
{
auto stage = std::make_unique<stages::MoveRelative>("lift object", cartesian_planner);
stage->properties().configureInitFrom(Stage::PARENT, { "group" });
stage->setMinMaxDistance(lift_object_min_dist_, lift_object_max_dist_);
stage->setIKFrame(hand_frame_);
stage->properties().set("marker_ns", "lift_object");
// Set upward direction
geometry_msgs::Vector3Stamped vec;
vec.header.frame_id = world_frame_;
vec.vector.z = 1.0;
stage->setDirection(vec);
grasp->insert(std::move(stage));
}
/****************************************************
.... * Forbid collision (object support) *
***************************************************/
{
auto stage = std::make_unique<stages::ModifyPlanningScene>("forbid collision (object,support)");
stage->allowCollisions({ object }, support_surfaces_, false);
grasp->insert(std::move(stage));
}
pick_stage_ptr = grasp.get(); // remember for monitoring place pose generator
// Add grasp container to task
t.add(std::move(grasp));
}
/******************************************************
* *
* Move to Place *
* *
*****************************************************/
{
// Connect the grasped state to the pre-place state, i.e. realize the object transport
auto stage = std::make_unique<stages::Connect>(
"move to place", stages::Connect::GroupPlannerVector{ { arm_group_name_, sampling_planner } });
stage->setTimeout(5.0);
stage->properties().configureInitFrom(Stage::PARENT);
t.add(std::move(stage));
}
/******************************************************
* *
* Place Object *
* *
*****************************************************/
// All placing sub-stages are collected within a serial container again
{
auto place = std::make_unique<SerialContainer>("place object");
t.properties().exposeTo(place->properties(), { "eef", "hand", "group" });
place->properties().configureInitFrom(Stage::PARENT, { "eef", "hand", "group" });
/******************************************************
---- * Lower Object *
*****************************************************/
{
auto stage = std::make_unique<stages::MoveRelative>("lower object", cartesian_planner);
stage->properties().set("marker_ns", "lower_object");
stage->properties().set("link", hand_frame_);
stage->properties().configureInitFrom(Stage::PARENT, { "group" });
stage->setMinMaxDistance(.03, .13);
// Set downward direction
geometry_msgs::Vector3Stamped vec;
vec.header.frame_id = world_frame_;
vec.vector.z = -1.0;
stage->setDirection(vec);
place->insert(std::move(stage));
}
/******************************************************
---- * Generate Place Pose *
*****************************************************/
{
// Generate Place Pose
auto stage = std::make_unique<stages::GeneratePlacePose>("generate place pose");
stage->properties().configureInitFrom(Stage::PARENT, { "ik_frame" });
stage->properties().set("marker_ns", "place_pose");
stage->setObject(object);
// Set target pose
geometry_msgs::PoseStamped p;
p.header.frame_id = object_reference_frame_;
p.pose = place_pose_;
p.pose.position.z += 0.5 * object_dimensions_[0] + place_surface_offset_;
stage->setPose(p);
stage->setMonitoredStage(pick_stage_ptr); // hook into successful pick solutions
// Compute IK
auto wrapper = std::make_unique<stages::ComputeIK>("place pose IK", std::move(stage));
wrapper->setMaxIKSolutions(2);
wrapper->setIKFrame(grasp_frame_transform_, hand_frame_);
wrapper->properties().configureInitFrom(Stage::PARENT, { "eef", "group" });
wrapper->properties().configureInitFrom(Stage::INTERFACE, { "target_pose" });
place->insert(std::move(wrapper));
}
/******************************************************
---- * Open Hand *
*****************************************************/
{
auto stage = std::make_unique<stages::MoveTo>("open hand", sampling_planner);
stage->setGroup(hand_group_name_);
stage->setGoal(hand_open_pose_);
place->insert(std::move(stage));
}
/******************************************************
---- * Forbid collision (hand, object) *
*****************************************************/
{
auto stage = std::make_unique<stages::ModifyPlanningScene>("forbid collision (hand,object)");
stage->allowCollisions(object_name_, *t.getRobotModel()->getJointModelGroup(hand_group_name_), false);
place->insert(std::move(stage));
}
/******************************************************
---- * Detach Object *
*****************************************************/
{
auto stage = std::make_unique<stages::ModifyPlanningScene>("detach object");
stage->detachObject(object_name_, hand_frame_);
place->insert(std::move(stage));
}
/******************************************************
---- * Retreat Motion *
*****************************************************/
{
auto stage = std::make_unique<stages::MoveRelative>("retreat after place", cartesian_planner);
stage->properties().configureInitFrom(Stage::PARENT, { "group" });
stage->setMinMaxDistance(.12, .25);
stage->setIKFrame(hand_frame_);
stage->properties().set("marker_ns", "retreat");
geometry_msgs::Vector3Stamped vec;
vec.header.frame_id = hand_frame_;
vec.vector.z = -1.0;
stage->setDirection(vec);
place->insert(std::move(stage));
}
// Add place container to task
t.add(std::move(place));
}
/******************************************************
* *
* Move to Home *
* *
*****************************************************/
{
auto stage = std::make_unique<stages::MoveTo>("move home", sampling_planner);
stage->properties().configureInitFrom(Stage::PARENT, { "group" });
stage->setGoal(arm_home_pose_);
stage->restrictDirection(stages::MoveTo::FORWARD);
t.add(std::move(stage));
}
// prepare Task structure for planning
try {
t.init();
} catch (InitStageException& e) {
ROS_ERROR_STREAM_NAMED(LOGNAME, "Initialization failed: " << e);
return false;
}
return true;
}
bool PickPlaceTask::plan() {
ROS_INFO_NAMED(LOGNAME, "Start searching for task solutions");
int max_solutions = pnh_.param<int>("max_solutions", 10);
return static_cast<bool>(task_->plan(max_solutions));
}
bool PickPlaceTask::execute() {
ROS_INFO_NAMED(LOGNAME, "Executing solution trajectory");
moveit_msgs::MoveItErrorCodes execute_result;
execute_result = task_->execute(*task_->solutions().front());
if (execute_result.val != moveit_msgs::MoveItErrorCodes::SUCCESS) {
ROS_ERROR_STREAM_NAMED(LOGNAME, "Task execution failed and returned: " << execute_result.val);
return false;
}
return true;
}
} // namespace moveit_task_constructor_demo