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473 lines
20 KiB
C++
473 lines
20 KiB
C++
/*********************************************************************
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* BSD 3-Clause License
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*
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* Copyright (c) 2019 PickNik LLC.
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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 are met:
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*
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* * Redistributions of source code must retain the above copyright notice, this
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* list of conditions and the following disclaimer.
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*
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* * Redistributions in binary form must reproduce the above copyright notice,
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* this list of conditions and the following disclaimer in the documentation
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* and/or other materials provided with the distribution.
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*
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* * Neither the name of the copyright holder nor the names of its
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* contributors may be used to endorse or promote products derived from
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* 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 "AS IS"
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* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
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* SERVICES; 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 LIABILITY,
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* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*********************************************************************/
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/* Author: Henning Kayser, Simon Goldstein
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Desc: A demo to show MoveIt Task Constructor in action
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*/
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#include <Eigen/Geometry>
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#include <moveit_task_constructor_demo/pick_place_task.h>
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#include <geometry_msgs/msg/pose.hpp>
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#include <tf2_eigen/tf2_eigen.hpp>
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#include "pick_place_demo_parameters.hpp"
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static const rclcpp::Logger LOGGER = rclcpp::get_logger("moveit_task_constructor_demo");
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namespace {
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Eigen::Isometry3d vectorToEigen(const std::vector<double>& values) {
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return Eigen::Translation3d(values[0], values[1], values[2]) *
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Eigen::AngleAxisd(values[3], Eigen::Vector3d::UnitX()) *
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Eigen::AngleAxisd(values[4], Eigen::Vector3d::UnitY()) *
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Eigen::AngleAxisd(values[5], Eigen::Vector3d::UnitZ());
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}
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geometry_msgs::msg::Pose vectorToPose(const std::vector<double>& values) {
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return tf2::toMsg(vectorToEigen(values));
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};
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} // namespace
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namespace moveit_task_constructor_demo {
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void spawnObject(moveit::planning_interface::PlanningSceneInterface& psi,
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const moveit_msgs::msg::CollisionObject& object) {
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if (!psi.applyCollisionObject(object))
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throw std::runtime_error("Failed to spawn object: " + object.id);
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}
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moveit_msgs::msg::CollisionObject createTable(const pick_place_task_demo::Params& params) {
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geometry_msgs::msg::Pose pose = vectorToPose(params.table_pose);
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moveit_msgs::msg::CollisionObject object;
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object.id = params.table_name;
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object.header.frame_id = params.table_reference_frame;
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object.primitives.resize(1);
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object.primitives[0].type = shape_msgs::msg::SolidPrimitive::BOX;
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object.primitives[0].dimensions = { params.table_dimensions.at(0), params.table_dimensions.at(1),
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params.table_dimensions.at(2) };
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pose.position.z -= 0.5 * params.table_dimensions[2]; // align surface with world
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object.primitive_poses.push_back(pose);
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return object;
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}
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moveit_msgs::msg::CollisionObject createObject(const pick_place_task_demo::Params& params) {
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geometry_msgs::msg::Pose pose = vectorToPose(params.object_pose);
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moveit_msgs::msg::CollisionObject object;
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object.id = params.object_name;
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object.header.frame_id = params.object_reference_frame;
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object.primitives.resize(1);
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object.primitives[0].type = shape_msgs::msg::SolidPrimitive::CYLINDER;
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object.primitives[0].dimensions = { params.object_dimensions.at(0), params.object_dimensions.at(1) };
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pose.position.z += 0.5 * params.object_dimensions[0];
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object.primitive_poses.push_back(pose);
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return object;
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}
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void setupDemoScene(const pick_place_task_demo::Params& params) {
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// Add table and object to planning scene
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rclcpp::sleep_for(std::chrono::microseconds(100)); // Wait for ApplyPlanningScene service
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moveit::planning_interface::PlanningSceneInterface psi;
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if (params.spawn_table)
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spawnObject(psi, createTable(params));
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spawnObject(psi, createObject(params));
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}
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PickPlaceTask::PickPlaceTask(const std::string& task_name) : task_name_(task_name) {}
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bool PickPlaceTask::init(const rclcpp::Node::SharedPtr& node, const pick_place_task_demo::Params& params) {
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RCLCPP_INFO(LOGGER, "Initializing task pipeline");
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// Reset ROS introspection before constructing the new object
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// TODO(v4hn): global storage for Introspection services to enable one-liner
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task_.reset();
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task_.reset(new moveit::task_constructor::Task());
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Task& t = *task_;
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t.stages()->setName(task_name_);
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t.loadRobotModel(node);
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// Sampling planner
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auto sampling_planner = std::make_shared<solvers::PipelinePlanner>(node);
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sampling_planner->setProperty("goal_joint_tolerance", 1e-5);
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// Cartesian planner
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auto cartesian_planner = std::make_shared<solvers::CartesianPath>();
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cartesian_planner->setMaxVelocityScalingFactor(1.0);
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cartesian_planner->setMaxAccelerationScalingFactor(1.0);
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cartesian_planner->setStepSize(.01);
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// Set task properties
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t.setProperty("group", params.arm_group_name);
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t.setProperty("eef", params.eef_name);
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t.setProperty("hand", params.hand_group_name);
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t.setProperty("hand_grasping_frame", params.hand_frame);
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t.setProperty("ik_frame", params.hand_frame);
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/****************************************************
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* *
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* Current State *
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* *
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***************************************************/
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{
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auto current_state = std::make_unique<stages::CurrentState>("current state");
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// Verify that object is not attached
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auto applicability_filter =
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std::make_unique<stages::PredicateFilter>("applicability test", std::move(current_state));
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applicability_filter->setPredicate([object = params.object_name](const SolutionBase& s, std::string& comment) {
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if (s.start()->scene()->getCurrentState().hasAttachedBody(object)) {
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comment = "object with id '" + object + "' is already attached and cannot be picked";
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return false;
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}
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return true;
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});
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t.add(std::move(applicability_filter));
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}
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/****************************************************
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* *
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* Open Hand *
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* *
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***************************************************/
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Stage* initial_state_ptr = nullptr;
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{ // Open Hand
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auto stage = std::make_unique<stages::MoveTo>("open hand", sampling_planner);
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stage->setGroup(params.hand_group_name);
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stage->setGoal(params.hand_open_pose);
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initial_state_ptr = stage.get(); // remember start state for monitoring grasp pose generator
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t.add(std::move(stage));
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}
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/****************************************************
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* *
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* Move to Pick *
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* *
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***************************************************/
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{ // Move-to pre-grasp
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auto stage = std::make_unique<stages::Connect>(
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"move to pick", stages::Connect::GroupPlannerVector{ { params.arm_group_name, sampling_planner } });
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stage->setTimeout(5.0);
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stage->properties().configureInitFrom(Stage::PARENT);
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t.add(std::move(stage));
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}
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/****************************************************
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* *
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* Pick Object *
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* *
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***************************************************/
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Stage* pick_stage_ptr = nullptr;
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{
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auto grasp = std::make_unique<SerialContainer>("pick object");
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t.properties().exposeTo(grasp->properties(), { "eef", "hand", "group", "ik_frame" });
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grasp->properties().configureInitFrom(Stage::PARENT, { "eef", "hand", "group", "ik_frame" });
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/****************************************************
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---- * Approach Object *
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***************************************************/
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{
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auto stage = std::make_unique<stages::MoveRelative>("approach object", cartesian_planner);
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stage->properties().set("marker_ns", "approach_object");
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stage->properties().set("link", params.hand_frame);
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stage->properties().configureInitFrom(Stage::PARENT, { "group" });
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stage->setMinMaxDistance(params.approach_object_min_dist, params.approach_object_max_dist);
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// Set hand forward direction
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geometry_msgs::msg::Vector3Stamped vec;
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vec.header.frame_id = params.hand_frame;
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vec.vector.z = 1.0;
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stage->setDirection(vec);
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grasp->insert(std::move(stage));
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}
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/****************************************************
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---- * Generate Grasp Pose *
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***************************************************/
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{
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// Sample grasp pose
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auto stage = std::make_unique<stages::GenerateGraspPose>("generate grasp pose");
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stage->properties().configureInitFrom(Stage::PARENT);
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stage->properties().set("marker_ns", "grasp_pose");
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stage->setPreGraspPose(params.hand_open_pose);
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stage->setObject(params.object_name);
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stage->setAngleDelta(M_PI / 12);
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stage->setMonitoredStage(initial_state_ptr); // hook into successful initial-phase solutions
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// Compute IK
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auto wrapper = std::make_unique<stages::ComputeIK>("grasp pose IK", std::move(stage));
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wrapper->setMaxIKSolutions(8);
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wrapper->setMinSolutionDistance(1.0);
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wrapper->setIKFrame(vectorToEigen(params.grasp_frame_transform), params.hand_frame);
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wrapper->properties().configureInitFrom(Stage::PARENT, { "eef", "group" });
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wrapper->properties().configureInitFrom(Stage::INTERFACE, { "target_pose" });
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grasp->insert(std::move(wrapper));
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}
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/****************************************************
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---- * Allow Collision (hand object) *
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***************************************************/
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{
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auto stage = std::make_unique<stages::ModifyPlanningScene>("allow collision (hand,object)");
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stage->allowCollisions(
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params.object_name,
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t.getRobotModel()->getJointModelGroup(params.hand_group_name)->getLinkModelNamesWithCollisionGeometry(),
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true);
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grasp->insert(std::move(stage));
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}
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/****************************************************
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---- * Close Hand *
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***************************************************/
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{
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auto stage = std::make_unique<stages::MoveTo>("close hand", sampling_planner);
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stage->setGroup(params.hand_group_name);
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stage->setGoal(params.hand_close_pose);
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grasp->insert(std::move(stage));
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}
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/****************************************************
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.... * Attach Object *
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***************************************************/
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{
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auto stage = std::make_unique<stages::ModifyPlanningScene>("attach object");
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stage->attachObject(params.object_name, params.hand_frame);
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grasp->insert(std::move(stage));
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}
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/****************************************************
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.... * Allow collision (object support) *
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***************************************************/
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{
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auto stage = std::make_unique<stages::ModifyPlanningScene>("allow collision (object,support)");
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stage->allowCollisions({ params.object_name }, { params.surface_link }, true);
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grasp->insert(std::move(stage));
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}
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/****************************************************
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.... * Lift object *
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***************************************************/
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{
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auto stage = std::make_unique<stages::MoveRelative>("lift object", cartesian_planner);
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stage->properties().configureInitFrom(Stage::PARENT, { "group" });
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stage->setMinMaxDistance(params.lift_object_min_dist, params.lift_object_max_dist);
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stage->setIKFrame(params.hand_frame);
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stage->properties().set("marker_ns", "lift_object");
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// Set upward direction
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geometry_msgs::msg::Vector3Stamped vec;
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vec.header.frame_id = params.world_frame;
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vec.vector.z = 1.0;
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stage->setDirection(vec);
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grasp->insert(std::move(stage));
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}
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/****************************************************
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.... * Forbid collision (object support) *
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***************************************************/
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{
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auto stage = std::make_unique<stages::ModifyPlanningScene>("forbid collision (object,surface)");
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stage->allowCollisions({ params.object_name }, { params.surface_link }, false);
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grasp->insert(std::move(stage));
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}
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pick_stage_ptr = grasp.get(); // remember for monitoring place pose generator
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// Add grasp container to task
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t.add(std::move(grasp));
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}
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/******************************************************
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* *
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* Move to Place *
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* *
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*****************************************************/
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{
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auto stage = std::make_unique<stages::Connect>(
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"move to place", stages::Connect::GroupPlannerVector{ { params.arm_group_name, sampling_planner } });
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stage->setTimeout(5.0);
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stage->properties().configureInitFrom(Stage::PARENT);
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t.add(std::move(stage));
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}
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/******************************************************
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* *
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* Place Object *
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* *
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*****************************************************/
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{
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auto place = std::make_unique<SerialContainer>("place object");
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t.properties().exposeTo(place->properties(), { "eef", "hand", "group" });
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place->properties().configureInitFrom(Stage::PARENT, { "eef", "hand", "group" });
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/******************************************************
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---- * Lower Object *
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*****************************************************/
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{
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auto stage = std::make_unique<stages::MoveRelative>("lower object", cartesian_planner);
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stage->properties().set("marker_ns", "lower_object");
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stage->properties().set("link", params.hand_frame);
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stage->properties().configureInitFrom(Stage::PARENT, { "group" });
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stage->setMinMaxDistance(.03, .13);
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// Set downward direction
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geometry_msgs::msg::Vector3Stamped vec;
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vec.header.frame_id = params.world_frame;
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vec.vector.z = -1.0;
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stage->setDirection(vec);
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place->insert(std::move(stage));
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}
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/******************************************************
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---- * Generate Place Pose *
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*****************************************************/
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{
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// Generate Place Pose
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auto stage = std::make_unique<stages::GeneratePlacePose>("generate place pose");
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stage->properties().configureInitFrom(Stage::PARENT, { "ik_frame" });
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stage->properties().set("marker_ns", "place_pose");
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stage->setObject(params.object_name);
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// Set target pose
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geometry_msgs::msg::PoseStamped p;
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p.header.frame_id = params.object_reference_frame;
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p.pose = vectorToPose(params.place_pose);
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p.pose.position.z += 0.5 * params.object_dimensions[0] + params.place_surface_offset;
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stage->setPose(p);
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stage->setMonitoredStage(pick_stage_ptr); // hook into successful pick solutions
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// Compute IK
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auto wrapper = std::make_unique<stages::ComputeIK>("place pose IK", std::move(stage));
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wrapper->setMaxIKSolutions(2);
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wrapper->setIKFrame(vectorToEigen(params.grasp_frame_transform), params.hand_frame);
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wrapper->properties().configureInitFrom(Stage::PARENT, { "eef", "group" });
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wrapper->properties().configureInitFrom(Stage::INTERFACE, { "target_pose" });
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place->insert(std::move(wrapper));
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}
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/******************************************************
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---- * Open Hand *
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*****************************************************/
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{
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auto stage = std::make_unique<stages::MoveTo>("open hand", sampling_planner);
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stage->setGroup(params.hand_group_name);
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stage->setGoal(params.hand_open_pose);
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place->insert(std::move(stage));
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}
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/******************************************************
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---- * Forbid collision (hand, object) *
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*****************************************************/
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{
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auto stage = std::make_unique<stages::ModifyPlanningScene>("forbid collision (hand,object)");
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stage->allowCollisions(params.object_name, *t.getRobotModel()->getJointModelGroup(params.hand_group_name),
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false);
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place->insert(std::move(stage));
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}
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/******************************************************
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---- * Detach Object *
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*****************************************************/
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{
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auto stage = std::make_unique<stages::ModifyPlanningScene>("detach object");
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stage->detachObject(params.object_name, params.hand_frame);
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place->insert(std::move(stage));
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}
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/******************************************************
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---- * Retreat Motion *
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*****************************************************/
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{
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auto stage = std::make_unique<stages::MoveRelative>("retreat after place", cartesian_planner);
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stage->properties().configureInitFrom(Stage::PARENT, { "group" });
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stage->setMinMaxDistance(.12, .25);
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stage->setIKFrame(params.hand_frame);
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stage->properties().set("marker_ns", "retreat");
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geometry_msgs::msg::Vector3Stamped vec;
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vec.header.frame_id = params.hand_frame;
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vec.vector.z = -1.0;
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stage->setDirection(vec);
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place->insert(std::move(stage));
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}
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// Add place container to task
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t.add(std::move(place));
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}
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/******************************************************
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* *
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* Move to Home *
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* *
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*****************************************************/
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{
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auto stage = std::make_unique<stages::MoveTo>("move home", sampling_planner);
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stage->properties().configureInitFrom(Stage::PARENT, { "group" });
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stage->setGoal(params.arm_home_pose);
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stage->restrictDirection(stages::MoveTo::FORWARD);
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t.add(std::move(stage));
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}
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// prepare Task structure for planning
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try {
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t.init();
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} catch (InitStageException& e) {
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RCLCPP_ERROR_STREAM(LOGGER, "Initialization failed: " << e);
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return false;
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}
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return true;
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}
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bool PickPlaceTask::plan(const std::size_t max_solutions) {
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RCLCPP_INFO(LOGGER, "Start searching for task solutions");
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return static_cast<bool>(task_->plan(max_solutions));
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}
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bool PickPlaceTask::execute() {
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RCLCPP_INFO(LOGGER, "Executing solution trajectory");
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moveit_msgs::msg::MoveItErrorCodes execute_result;
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execute_result = task_->execute(*task_->solutions().front());
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// // If you want to inspect the goal message, use this instead:
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// actionlib::SimpleActionClient<moveit_task_constructor_msgs::msg::ExecuteTaskSolutionAction>
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// execute("execute_task_solution", true); execute.waitForServer();
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// moveit_task_constructor_msgs::msg::ExecuteTaskSolution::Goal execute_goal;
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// task_->solutions().front()->toMsg(execute_goal.solution);
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// execute.sendGoalAndWait(execute_goal);
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// execute_result = execute.getResult()->error_code;
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if (execute_result.val != moveit_msgs::msg::MoveItErrorCodes::SUCCESS) {
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RCLCPP_ERROR_STREAM(LOGGER, "Task execution failed and returned: " << execute_result.val);
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return false;
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}
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return true;
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}
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} // namespace moveit_task_constructor_demo
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