grasp_executor.cpp

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// Author(s): Matei Ciocarlie

#include "object_manipulator/grasp_execution/grasp_executor.h"

#include "object_manipulator/tools/exceptions.h"
#include "object_manipulator/tools/hand_description.h"
#include "object_manipulator/tools/vector_tools.h"

using object_manipulation_msgs::GraspResult;
using motion_planning_msgs::ArmNavigationErrorCodes;

namespace object_manipulator {

motion_planning_msgs::OrderedCollisionOperations
GraspExecutor::collisionOperationsForLift(const object_manipulation_msgs::PickupGoal &pickup_goal)
{
  motion_planning_msgs::OrderedCollisionOperations ord;
  motion_planning_msgs::CollisionOperation coll;
  coll.object1 = handDescription().gripperCollisionName(pickup_goal.arm_name);
  coll.object2 = pickup_goal.collision_object_name;
  coll.operation = motion_planning_msgs::CollisionOperation::DISABLE;
  ord.collision_operations.push_back(coll);
  if (pickup_goal.allow_gripper_support_collision)
  {
    coll.object2 = pickup_goal.collision_support_surface_name;
    ord.collision_operations.push_back(coll);
  }
  ord.collision_operations = concat(ord.collision_operations,
                                    pickup_goal.additional_collision_operations.collision_operations);
  return ord;
}

std::vector<motion_planning_msgs::LinkPadding>
GraspExecutor::linkPaddingForLift(const object_manipulation_msgs::PickupGoal &pickup_goal)
{
  return concat(MechanismInterface::fingertipPadding(pickup_goal.arm_name, 0.0),
                pickup_goal.additional_link_padding);
}

GraspResult
GraspExecutor::getInterpolatedIKForLift(const object_manipulation_msgs::PickupGoal &pickup_goal,
                                        const object_manipulation_msgs::Grasp &grasp,
                                        const std::vector<double> &grasp_joint_angles,
                                        trajectory_msgs::JointTrajectory &lift_trajectory)
{
  geometry_msgs::PoseStamped grasp_pose;
  grasp_pose.pose = grasp.grasp_pose;
  grasp_pose.header.frame_id = pickup_goal.target.reference_frame_id;
  grasp_pose.header.stamp = ros::Time(0);

  float actual_lift_distance;
  int error_code =
    mechInterface().getInterpolatedIK(pickup_goal.arm_name,
                                      grasp_pose,
                                      pickup_goal.lift.direction, pickup_goal.lift.desired_distance,
                                      grasp_joint_angles,
                                      grasp.grasp_posture,
                                      collisionOperationsForLift(pickup_goal), linkPaddingForLift(pickup_goal),
                                      false, lift_trajectory, actual_lift_distance);
  ROS_DEBUG("  Lift distance: actual %f, min %f and desired %f", actual_lift_distance, pickup_goal.lift.min_distance,
           pickup_goal.lift.desired_distance);

  if (actual_lift_distance < pickup_goal.lift.min_distance)
  {
    ROS_DEBUG("  Lift trajectory  below min. threshold");
    if (marker_publisher_) marker_publisher_->colorGraspMarker(marker_id_, 0.0, 0.0, 1.0); //blue
    if (lift_trajectory.points.empty())
    {
      ROS_DEBUG("  Lift trajectory empty; problem is with grasp location");
      if (error_code == ArmNavigationErrorCodes::COLLISION_CONSTRAINTS_VIOLATED)
        return Result(GraspResult::GRASP_IN_COLLISION, true);
      else if (error_code == ArmNavigationErrorCodes::JOINT_LIMITS_VIOLATED)
        return Result(GraspResult::GRASP_OUT_OF_REACH, true);
      else return Result(GraspResult::GRASP_UNFEASIBLE, true);
    }
    if (error_code == ArmNavigationErrorCodes::COLLISION_CONSTRAINTS_VIOLATED)
      return Result(GraspResult::LIFT_IN_COLLISION, true);
    else if (error_code == ArmNavigationErrorCodes::JOINT_LIMITS_VIOLATED)
      return Result(GraspResult::LIFT_OUT_OF_REACH, true);
    else return Result(GraspResult::LIFT_UNFEASIBLE, true);
  }

  //check if the last pose in trajectory is valid
  //when we check for lift we use custom link padding, so we need to check here if the last pose
  //is feasible with default padding; otherwise, move_arm might refuse to take us out of there
  if ( pickup_goal.lift.min_distance != 0 &&
       !mechInterface().checkStateValidity(pickup_goal.arm_name, lift_trajectory.points.back().positions,
                                           collisionOperationsForLift(pickup_goal),
                                           pickup_goal.additional_link_padding) )
  {
    ROS_DEBUG("  Grasp executor: last pose in lift trajectory is unfeasible with default padding");
    return Result(GraspResult::LIFT_UNFEASIBLE, true);
  }

  return Result(GraspResult::SUCCESS, true);
}

GraspResult
GraspExecutor::lift(const object_manipulation_msgs::PickupGoal &pickup_goal)
{
  if (interpolated_lift_trajectory_.points.empty())
  {
    ROS_ERROR("  Grasp executor: lift trajectory not set");
    return Result(GraspResult::LIFT_FAILED, false);
  }

  //execute the unnormalized interpolated trajectory from grasp to lift
  mechInterface().attemptTrajectory(pickup_goal.arm_name, interpolated_lift_trajectory_, true);
  return Result(GraspResult::SUCCESS, true);
}

GraspResult
GraspExecutor::checkAndExecuteGrasp(const object_manipulation_msgs::PickupGoal &pickup_goal,
                                    const object_manipulation_msgs::Grasp &grasp)
{
  //test if grasp is feasible and prepare trajectories
  if (marker_publisher_)
  {
    geometry_msgs::PoseStamped marker_pose;
    marker_pose.pose = grasp.grasp_pose;
    marker_pose.header.frame_id = pickup_goal.target.reference_frame_id;
    marker_pose.header.stamp = ros::Time::now();
    marker_id_ = marker_publisher_->addGraspMarker(marker_pose);
  }
  GraspResult result = prepareGrasp(pickup_goal, grasp);
  if (result.result_code != GraspResult::SUCCESS) return result;

  result = executeGrasp(pickup_goal, grasp);
  if (result.result_code != GraspResult::SUCCESS) return result;

  //check if there is anything in gripper; if not, open gripper and retreat
  if (!mechInterface().graspPostureQuery(pickup_goal.arm_name))
  {
    ROS_DEBUG("Hand reports that grasp was not successfully executed; releasing object and retreating");
    mechInterface().handPostureGraspAction(pickup_goal.arm_name, grasp,
                                           object_manipulation_msgs::GraspHandPostureExecutionGoal::RELEASE);
    retreat(pickup_goal);
    return Result(GraspResult::GRASP_FAILED, false);
  }

  //attach object to gripper
  if (!pickup_goal.collision_object_name.empty())
  {
    mechInterface().attachObjectToGripper(pickup_goal.arm_name, pickup_goal.collision_object_name);
  }

  //lift the object
  result = lift(pickup_goal);
  if (result.result_code != GraspResult::SUCCESS) return result;

  return Result(GraspResult::SUCCESS, true);
}

} //namespace object_manipulator