object_manipulator: place_executor.cpp Source File

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00033 
00034 #include "object_manipulator/place_execution/place_executor.h"
00035 
00036 #include "object_manipulator/tools/hand_description.h"
00037 #include "object_manipulator/tools/exceptions.h"
00038 #include "object_manipulator/tools/vector_tools.h"
00039 
00040 //#include <demo_synchronizer/synchronizer_client.h>
00041 
00042 using object_manipulation_msgs::PlaceLocationResult;
00043 using motion_planning_msgs::ArmNavigationErrorCodes;
00044 
00045 namespace object_manipulator {
00046 
00047 geometry_msgs::PoseStamped PlaceExecutor::computeGripperPose(geometry_msgs::PoseStamped place_location, 
00048                                                              geometry_msgs::Pose grasp_pose, 
00049                                                              std::string frame_id)
00050 {
00051   //get the gripper pose relative to place location
00052   tf::Transform place_trans;
00053   tf::poseMsgToTF(place_location.pose, place_trans);
00054   tf::Transform grasp_trans;
00055   tf::poseMsgToTF(grasp_pose, grasp_trans);
00056   grasp_trans = place_trans * grasp_trans;
00057 
00058   //get it in the requested frame
00059   tf::Stamped<tf::Pose> grasp_trans_stamped;
00060   grasp_trans_stamped.setData(grasp_trans);
00061   grasp_trans_stamped.frame_id_ = place_location.header.frame_id;
00062   grasp_trans_stamped.stamp_ = ros::Time::now();
00063   if (!listener_.waitForTransform(frame_id, place_location.header.frame_id, ros::Time::now(), ros::Duration(1.0)))
00064   {
00065     ROS_ERROR("Object place: tf does not have transform from %s to %s", 
00066               place_location.header.frame_id.c_str(),
00067               frame_id.c_str());
00068     throw MechanismException( std::string("Object place: tf does not have transform from ") + 
00069                               place_location.header.frame_id.c_str() + std::string(" to ") + 
00070                               frame_id);
00071   }
00072   tf::Stamped<tf::Pose> grasp_trans_base;
00073   try
00074   {
00075     listener_.transformPose( frame_id, grasp_trans_stamped, grasp_trans_base);
00076   }
00077   catch (tf::TransformException ex)
00078   {
00079     ROS_ERROR("Object place: tf failed to transform gripper pose into frame %s; exception: %s", 
00080               frame_id.c_str(), ex.what());
00081     throw MechanismException( std::string("tf failed to transform gripper pose into frame ") + 
00082                               frame_id + std::string("; tf exception: ") +  
00083                               std::string(ex.what()) );
00084   }
00085   
00086   geometry_msgs::PoseStamped gripper_pose;
00087   tf::poseTFToMsg(grasp_trans_base, gripper_pose.pose);
00088   gripper_pose.header.frame_id = frame_id;
00089   gripper_pose.header.stamp = ros::Time::now();
00090   return gripper_pose;
00091 }
00092 
00107 PlaceLocationResult PlaceExecutor::retreat(const object_manipulation_msgs::PlaceGoal &place_goal)
00108 {
00109   motion_planning_msgs::OrderedCollisionOperations ord;
00110   motion_planning_msgs::CollisionOperation coll;
00111   //disable collision between gripper and object
00112   coll.object1 = handDescription().gripperCollisionName(place_goal.arm_name);
00113   coll.object2 = place_goal.collision_object_name;
00114   coll.operation = motion_planning_msgs::CollisionOperation::DISABLE;
00115   ord.collision_operations.push_back(coll);
00116   //disable collision between gripper and table
00117   coll.object2 = place_goal.collision_support_surface_name;
00118   ord.collision_operations.push_back(coll);
00119   ord.collision_operations = concat(ord.collision_operations, 
00120                                     place_goal.additional_collision_operations.collision_operations);
00121 
00122   //zero padding on fingertip links; shouldn't matter much due to collisions disabled above
00123   std::vector<motion_planning_msgs::LinkPadding> link_padding 
00124     = concat(MechanismInterface::fingertipPadding(place_goal.arm_name, 0.0),
00125              place_goal.additional_link_padding);
00126 
00127   geometry_msgs::Vector3Stamped direction;
00128   direction.header.stamp = ros::Time::now();
00129   direction.header.frame_id = handDescription().gripperFrame(place_goal.arm_name);
00130   direction.vector = mechInterface().negate( handDescription().approachDirection(place_goal.arm_name) );
00131 
00132   float actual_distance;
00133   mechInterface().translateGripper(place_goal.arm_name, 
00134                                    direction, 
00135                                    ord, link_padding, 
00136                                    place_goal.desired_retreat_distance, 0, actual_distance);
00137   if (actual_distance < place_goal.min_retreat_distance)
00138   {
00139     ROS_DEBUG("Object place: retreat incomplete (%f executed and %f desired)", 
00140              actual_distance, place_goal.min_retreat_distance);
00141     return Result(PlaceLocationResult::RETREAT_FAILED, false);
00142   }
00143 
00144   return Result(PlaceLocationResult::SUCCESS, true);
00145 }
00146 
00147 PlaceLocationResult 
00148 PlaceExecutor::prepareInterpolatedTrajectories(const object_manipulation_msgs::PlaceGoal &place_goal,
00149                                                const geometry_msgs::PoseStamped &place_location)
00150 {
00151   //compute gripper location for final place
00152   geometry_msgs::PoseStamped gripper_place_pose = computeGripperPose(place_location, 
00153                                                                      place_goal.grasp.grasp_pose, 
00154                                                                      handDescription().robotFrame(place_goal.arm_name));
00155   //publish marker
00156   if (marker_publisher_)
00157   {
00158     if (marker_id_ < 0)
00159     {
00160       marker_id_ = marker_publisher_->addGraspMarker(gripper_place_pose);
00161       marker_publisher_->colorGraspMarker(marker_id_, 1.0, 0.0, 1.0); //magenta
00162     }
00163     else
00164     {
00165       marker_publisher_->setMarkerPose(marker_id_, gripper_place_pose);
00166     }
00167   }
00168 
00169   //disable collisions between grasped object and table
00170   motion_planning_msgs::OrderedCollisionOperations ord;
00171   motion_planning_msgs::CollisionOperation coll;
00172   coll.object1 = place_goal.collision_object_name;
00173   coll.object2 = place_goal.collision_support_surface_name;
00174   coll.operation = motion_planning_msgs::CollisionOperation::DISABLE;
00175   ord.collision_operations.push_back(coll);
00176   if (place_goal.allow_gripper_support_collision)
00177   {
00178     coll.object1 = handDescription().gripperCollisionName(place_goal.arm_name);
00179     coll.object2 = place_goal.collision_support_surface_name;
00180     ord.collision_operations.push_back(coll);
00181   }
00182   ord.collision_operations = concat(ord.collision_operations, 
00183                                     place_goal.additional_collision_operations.collision_operations);
00184 
00185   //zero padding on fingertip links
00186   std::vector<motion_planning_msgs::LinkPadding> link_padding = 
00187     MechanismInterface::fingertipPadding(place_goal.arm_name, 0.0);
00188   // padding on grasped object, which is still attached to the gripper
00189   motion_planning_msgs::LinkPadding padding;
00190   padding.link_name = handDescription().attachedName(place_goal.arm_name);
00191   padding.padding = place_goal.place_padding;
00192   link_padding.push_back(padding);
00193   link_padding = concat(link_padding, place_goal.additional_link_padding);
00194 
00195   geometry_msgs::Vector3Stamped place_direction;
00196   place_direction.header.frame_id = place_goal.approach.direction.header.frame_id;
00197   place_direction.header.stamp = ros::Time::now();
00198   place_direction.vector = mechInterface().negate(place_goal.approach.direction.vector);
00199 
00200   //search backwards from place to pre-place
00201   std::vector<double> empty;
00202   float actual_distance;
00203   int error_code = mechInterface().getInterpolatedIK(place_goal.arm_name, 
00204                                                      gripper_place_pose, place_direction,
00205                                                      place_goal.approach.desired_distance,
00206                                                      empty, 
00207                                                      place_goal.grasp.grasp_posture, 
00208                                                      ord, link_padding, 
00209                                                      true, place_trajectory_, actual_distance);
00210   ROS_DEBUG(" Place trajectory: actual(%f), min(%f), desired (%f)", 
00211             actual_distance, place_goal.approach.min_distance, place_goal.approach.desired_distance);
00212 
00213   if (actual_distance < place_goal.approach.min_distance)
00214   {
00215     ROS_DEBUG("Place trajectory below min. threshold");
00216     if (place_trajectory_.points.empty())
00217     {
00218       ROS_DEBUG("Place trajectory empty; problem is with place location");
00219       if (error_code == ArmNavigationErrorCodes::COLLISION_CONSTRAINTS_VIOLATED) 
00220         return Result(PlaceLocationResult::PLACE_IN_COLLISION, true);
00221       else if (error_code == ArmNavigationErrorCodes::JOINT_LIMITS_VIOLATED)
00222         return Result(PlaceLocationResult::PLACE_OUT_OF_REACH, true);
00223       else return Result(PlaceLocationResult::PLACE_UNFEASIBLE, true);      
00224     }
00225     if (error_code == ArmNavigationErrorCodes::COLLISION_CONSTRAINTS_VIOLATED) 
00226       return Result(PlaceLocationResult::PREPLACE_IN_COLLISION, true);
00227     else if (error_code == ArmNavigationErrorCodes::JOINT_LIMITS_VIOLATED)
00228       return Result(PlaceLocationResult::PREPLACE_OUT_OF_REACH, true);
00229     else return Result(PlaceLocationResult::PREPLACE_UNFEASIBLE, true);      
00230   }
00231 
00232 
00233   //make sure first position is feasible with default padding
00234   if ( !mechInterface().checkStateValidity(place_goal.arm_name, place_trajectory_.points.front().positions,
00235                                            place_goal.additional_collision_operations,
00236                                            place_goal.additional_link_padding) )
00237   {
00238     ROS_DEBUG("First pose in place trajectory is unfeasible with default padding");
00239     return Result(PlaceLocationResult::PREPLACE_UNFEASIBLE, true);
00240   }
00241   
00242 
00243   //disable all collisions on grasped object, since we are no longer holding it during the retreat
00244   coll.object1 = place_goal.collision_object_name;
00245   coll.object2 = coll.COLLISION_SET_ALL;
00246   coll.operation = motion_planning_msgs::CollisionOperation::DISABLE;
00247   ord.collision_operations.clear();
00248   ord.collision_operations.push_back(coll);
00249   if (place_goal.allow_gripper_support_collision)
00250   {
00251     coll.object1 = handDescription().gripperCollisionName(place_goal.arm_name);
00252     coll.object2 = place_goal.collision_support_surface_name;
00253     ord.collision_operations.push_back(coll);
00254   }
00255   ord.collision_operations = concat(ord.collision_operations, 
00256                                     place_goal.additional_collision_operations.collision_operations);
00257 
00258   geometry_msgs::Vector3Stamped retreat_direction;
00259   retreat_direction.header.stamp = ros::Time::now();
00260   retreat_direction.header.frame_id = handDescription().gripperFrame(place_goal.arm_name);
00261   retreat_direction.vector = mechInterface().negate( handDescription().approachDirection(place_goal.arm_name) );
00262 
00263   //search from place to retreat, using solution from place as seed
00264   std::vector<double> place_joint_angles = place_trajectory_.points.back().positions;  
00265   mechInterface().getInterpolatedIK(place_goal.arm_name, 
00266                                     gripper_place_pose, retreat_direction,
00267                                     place_goal.desired_retreat_distance,
00268                                     place_joint_angles, 
00269                                     place_goal.grasp.pre_grasp_posture, 
00270                                     ord, link_padding, 
00271                                     false, retreat_trajectory_, actual_distance);
00272   ROS_DEBUG("Retreat trajectory: actual (%f), min (%f) and desired (%f)", actual_distance,
00273            place_goal.min_retreat_distance, place_goal.desired_retreat_distance);
00274 
00275   if (actual_distance < place_goal.min_retreat_distance)
00276   {
00277    ROS_DEBUG("Retreat trajectory below min. threshold");
00278     if (retreat_trajectory_.points.empty())
00279     {
00280       ROS_DEBUG("Retreat trajectory empty; problem is with place location");
00281       if (error_code == ArmNavigationErrorCodes::COLLISION_CONSTRAINTS_VIOLATED) 
00282         return Result(PlaceLocationResult::PLACE_IN_COLLISION, true);
00283       else if (error_code == ArmNavigationErrorCodes::JOINT_LIMITS_VIOLATED)
00284         return Result(PlaceLocationResult::PLACE_OUT_OF_REACH, true);
00285       else return Result(PlaceLocationResult::PLACE_UNFEASIBLE, true);      
00286     }
00287     if (error_code == ArmNavigationErrorCodes::COLLISION_CONSTRAINTS_VIOLATED) 
00288       return Result(PlaceLocationResult::RETREAT_IN_COLLISION, true);
00289     else if (error_code == ArmNavigationErrorCodes::JOINT_LIMITS_VIOLATED)
00290       return Result(PlaceLocationResult::RETREAT_OUT_OF_REACH, true);
00291     else return Result(PlaceLocationResult::RETREAT_UNFEASIBLE, true);  
00292   }
00293 
00294   return Result(PlaceLocationResult::SUCCESS, true);
00295 }
00296 
00303 PlaceLocationResult 
00304 PlaceExecutor::placeApproach(const object_manipulation_msgs::PlaceGoal &place_goal,
00305                              const geometry_msgs::PoseStamped&)
00306 {
00307   mechInterface().attemptTrajectory(place_goal.arm_name, place_trajectory_, true);
00308   return Result(PlaceLocationResult::SUCCESS, true);
00309 }
00310 
00311 
00321 PlaceLocationResult PlaceExecutor::place(const object_manipulation_msgs::PlaceGoal &place_goal,
00322                                          const geometry_msgs::PoseStamped &place_location)
00323 {
00324   //demo_synchronizer::getClient().rviz(1, "Collision models;IK contacts;Interpolated IK;Grasp execution");
00325 
00326   //compute interpolated trajectories
00327   PlaceLocationResult result = prepareInterpolatedTrajectories(place_goal, place_location);
00328   if (result.result_code != PlaceLocationResult::SUCCESS) return result;
00329 
00330   //demo_synchronizer::getClient().sync(2, "Using motion planner to move arm to pre-place location");
00331   //demo_synchronizer::getClient().rviz(1, "Collision models;Planning goal;Environment contacts;Collision map");
00332 
00333   //whether we are using the constraints or not
00334   bool use_constraints = true;
00335 
00336   //check if we can actually understand the constraints
00337   if(!constraintsUnderstandable(place_goal.path_constraints))
00338   {
00339     ROS_WARN("Constraints passed to place executor are of types not yet handled. Ignoring them.");
00340     use_constraints = false;
00341   }
00342 
00343   if (place_goal.path_constraints.orientation_constraints.empty())
00344   {
00345     use_constraints = false;
00346   }
00347   
00348   if(use_constraints)
00349   {
00350     //recompute the pre-place pose from the already computed trajectory
00351     geometry_msgs::PoseStamped place_pose;
00352     place_pose.header.frame_id = place_location.header.frame_id;
00353     place_pose.header.stamp = ros::Time(0.0);
00354     //ROS_DEBUG("Place pose in frame: %s",place_pose.header.frame_id.c_str());
00355     if(!mechInterface().getFK(place_goal.arm_name, place_trajectory_.points.front().positions, place_pose))
00356     {
00357       ROS_ERROR("Could not re-compute pre-place pose based on trajectory");
00358       throw MechanismException("Could not re-compute pre-place pose based on trajectory");       
00359     }
00360     ROS_DEBUG("Attempting move arm to pre-place with constraints");
00361     if (!mechInterface().moveArmConstrained(place_goal.arm_name, place_pose, 
00362                                             place_goal.additional_collision_operations,
00363                                             place_goal.additional_link_padding,
00364                                             place_goal.path_constraints, 
00365                                             place_trajectory_.points.front().positions[2], 
00366                                             false)) 
00367     {
00368       //TODO: in the future, this should be hard stop, with an informative message back 
00369       //to the caller saying the constraints have failed
00370       ROS_WARN("Object place: move_arm to pre-place with constraints failed. Trying again without constraints.");
00371       use_constraints = false;
00372     }
00373   }
00374 
00375   //try to go to the pre-place pose without constraints
00376   if(!use_constraints)
00377   {
00378     ROS_DEBUG("Attempting move arm to pre-place without constraints");
00379     if ( !mechInterface().attemptMoveArmToGoal(place_goal.arm_name, place_trajectory_.points.front().positions,
00380                                                place_goal.additional_collision_operations,
00381                                                place_goal.additional_link_padding) ) 
00382     {
00383       ROS_DEBUG("Object place: move_arm (without constraints) to pre-place reports failure");
00384       return Result(PlaceLocationResult::MOVE_ARM_FAILED, true);
00385     }
00386   }
00387   ROS_DEBUG(" Arm moved to pre-place");
00388 
00389   //demo_synchronizer::getClient().sync(2, "Executing interpolated IK path for place, detaching and retreating");
00390   //demo_synchronizer::getClient().rviz(1, "Collision models");
00391 
00392   result = placeApproach(place_goal, place_location);
00393   if ( result.result_code != PlaceLocationResult::SUCCESS)
00394   {
00395     ROS_DEBUG(" Pre-place to place approach failed");
00396     return Result(PlaceLocationResult::PLACE_FAILED, false);
00397   }
00398   ROS_DEBUG(" Place trajectory done");
00399 
00400   mechInterface().detachAndAddBackObjectsAttachedToGripper(place_goal.arm_name, place_goal.collision_object_name);
00401   ROS_DEBUG(" Object detached");
00402 
00403   mechInterface().handPostureGraspAction(place_goal.arm_name, place_goal.grasp,
00404                                          object_manipulation_msgs::GraspHandPostureExecutionGoal::RELEASE);
00405   ROS_DEBUG(" Object released");
00406 
00407   result = retreat(place_goal);
00408   if (result.result_code != PlaceLocationResult::SUCCESS)
00409   {
00410     return Result(PlaceLocationResult::RETREAT_FAILED, false);
00411   }
00412   return Result(PlaceLocationResult::SUCCESS, true);
00413 }
00414 
00418 bool PlaceExecutor::constraintsUnderstandable(const motion_planning_msgs::Constraints &constraints)
00419 {
00420   if(constraints.position_constraints.empty() && constraints.orientation_constraints.empty() && 
00421      constraints.joint_constraints.empty() && constraints.visibility_constraints.empty())
00422     return true;
00423   if(constraints.orientation_constraints.size() == 1 && constraints.position_constraints.empty() 
00424      && constraints.joint_constraints.empty() && constraints.visibility_constraints.empty())
00425     return true;
00426   return false;
00427 }
00428 
00429 PlaceLocationResult 
00430 ReactivePlaceExecutor::placeApproach(const object_manipulation_msgs::PlaceGoal &place_goal,
00431                                      const geometry_msgs::PoseStamped &place_location)
00432 {
00433   //compute gripper location for final place
00434   geometry_msgs::PoseStamped gripper_place_pose = computeGripperPose(place_location, 
00435                                                                      place_goal.grasp.grasp_pose, 
00436                                                                      handDescription().robotFrame(place_goal.arm_name));
00437 
00438   //prepare the goal for reactive placing
00439   object_manipulation_msgs::ReactivePlaceGoal reactive_place_goal;  
00440   reactive_place_goal.arm_name = place_goal.arm_name;
00441   reactive_place_goal.collision_object_name = place_goal.collision_object_name;
00442   reactive_place_goal.collision_support_surface_name = place_goal.collision_support_surface_name;
00443   reactive_place_goal.trajectory = place_trajectory_;
00444   reactive_place_goal.final_place_pose = gripper_place_pose;
00445 
00446   //give the reactive place 1 minute to do its thing
00447   ros::Duration timeout = ros::Duration(60.0);
00448   ROS_DEBUG(" Calling the reactive place action");
00449   mechInterface().reactive_place_action_client_.client(place_goal.arm_name).sendGoal(reactive_place_goal);
00450   if ( !mechInterface().reactive_place_action_client_.client(place_goal.arm_name).waitForResult(timeout) )
00451   {
00452     ROS_ERROR("  Reactive place timed out");
00453     return Result(PlaceLocationResult::PLACE_FAILED, false);
00454   }
00455   object_manipulation_msgs::ReactivePlaceResult reactive_place_result = 
00456     *mechInterface().reactive_place_action_client_.client(place_goal.arm_name).getResult();
00457   if (reactive_place_result.manipulation_result.value != reactive_place_result.manipulation_result.SUCCESS)
00458   {
00459     ROS_ERROR("  Reactive place failed with error code %d", reactive_place_result.manipulation_result.value);
00460     return Result(PlaceLocationResult::PLACE_FAILED, false);
00461   }
00462   ROS_DEBUG("  Reactive place action succeeded");
00463   return Result(PlaceLocationResult::SUCCESS, true);
00464 }
00465 
00466 } //namespace object_grasping