place_executor.cpp

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#include "object_manipulator/place_execution/place_executor.h"

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

//#include <demo_synchronizer/synchronizer_client.h>

using object_manipulation_msgs::PlaceLocationResult;
using motion_planning_msgs::ArmNavigationErrorCodes;

namespace object_manipulator {

geometry_msgs::PoseStamped PlaceExecutor::computeGripperPose(geometry_msgs::PoseStamped place_location,
                                                             geometry_msgs::Pose grasp_pose,
                                                             std::string frame_id)
{
  //get the gripper pose relative to place location
  tf::Transform place_trans;
  tf::poseMsgToTF(place_location.pose, place_trans);
  tf::Transform grasp_trans;
  tf::poseMsgToTF(grasp_pose, grasp_trans);
  grasp_trans = place_trans * grasp_trans;

  //get it in the requested frame
  tf::Stamped<tf::Pose> grasp_trans_stamped;
  grasp_trans_stamped.setData(grasp_trans);
  grasp_trans_stamped.frame_id_ = place_location.header.frame_id;
  grasp_trans_stamped.stamp_ = ros::Time::now();
  if (!listener_.waitForTransform(frame_id, place_location.header.frame_id, ros::Time::now(), ros::Duration(1.0)))
  {
    ROS_ERROR("Object place: tf does not have transform from %s to %s",
              place_location.header.frame_id.c_str(),
              frame_id.c_str());
    throw MechanismException( std::string("Object place: tf does not have transform from ") +
                              place_location.header.frame_id.c_str() + std::string(" to ") +
                              frame_id);
  }
  tf::Stamped<tf::Pose> grasp_trans_base;
  try
  {
    listener_.transformPose( frame_id, grasp_trans_stamped, grasp_trans_base);
  }
  catch (tf::TransformException ex)
  {
    ROS_ERROR("Object place: tf failed to transform gripper pose into frame %s; exception: %s",
              frame_id.c_str(), ex.what());
    throw MechanismException( std::string("tf failed to transform gripper pose into frame ") +
                              frame_id + std::string("; tf exception: ") +
                              std::string(ex.what()) );
  }

  geometry_msgs::PoseStamped gripper_pose;
  tf::poseTFToMsg(grasp_trans_base, gripper_pose.pose);
  gripper_pose.header.frame_id = frame_id;
  gripper_pose.header.stamp = ros::Time::now();
  return gripper_pose;
}

PlaceLocationResult PlaceExecutor::retreat(const object_manipulation_msgs::PlaceGoal &place_goal)
{
  motion_planning_msgs::OrderedCollisionOperations ord;
  motion_planning_msgs::CollisionOperation coll;
  //disable collision between gripper and object
  coll.object1 = handDescription().gripperCollisionName(place_goal.arm_name);
  coll.object2 = place_goal.collision_object_name;
  coll.operation = motion_planning_msgs::CollisionOperation::DISABLE;
  ord.collision_operations.push_back(coll);
  //disable collision between gripper and table
  coll.object2 = place_goal.collision_support_surface_name;
  ord.collision_operations.push_back(coll);
  ord.collision_operations = concat(ord.collision_operations,
                                    place_goal.additional_collision_operations.collision_operations);

  //zero padding on fingertip links; shouldn't matter much due to collisions disabled above
  std::vector<motion_planning_msgs::LinkPadding> link_padding
    = concat(MechanismInterface::fingertipPadding(place_goal.arm_name, 0.0),
             place_goal.additional_link_padding);

  geometry_msgs::Vector3Stamped direction;
  direction.header.stamp = ros::Time::now();
  direction.header.frame_id = handDescription().gripperFrame(place_goal.arm_name);
  direction.vector = mechInterface().negate( handDescription().approachDirection(place_goal.arm_name) );

  float actual_distance;
  mechInterface().translateGripper(place_goal.arm_name,
                                   direction,
                                   ord, link_padding,
                                   place_goal.desired_retreat_distance, 0, actual_distance);
  if (actual_distance < place_goal.min_retreat_distance)
  {
    ROS_DEBUG("Object place: retreat incomplete (%f executed and %f desired)",
             actual_distance, place_goal.min_retreat_distance);
    return Result(PlaceLocationResult::RETREAT_FAILED, false);
  }

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

PlaceLocationResult
PlaceExecutor::prepareInterpolatedTrajectories(const object_manipulation_msgs::PlaceGoal &place_goal,
                                               const geometry_msgs::PoseStamped &place_location)
{
  //compute gripper location for final place
  geometry_msgs::PoseStamped gripper_place_pose = computeGripperPose(place_location,
                                                                     place_goal.grasp.grasp_pose,
                                                                     handDescription().robotFrame(place_goal.arm_name));
  //publish marker
  if (marker_publisher_)
  {
    if (marker_id_ < 0)
    {
      marker_id_ = marker_publisher_->addGraspMarker(gripper_place_pose);
      marker_publisher_->colorGraspMarker(marker_id_, 1.0, 0.0, 1.0); //magenta
    }
    else
    {
      marker_publisher_->setMarkerPose(marker_id_, gripper_place_pose);
    }
  }

  //disable collisions between grasped object and table
  motion_planning_msgs::OrderedCollisionOperations ord;
  motion_planning_msgs::CollisionOperation coll;
  coll.object1 = place_goal.collision_object_name;
  coll.object2 = place_goal.collision_support_surface_name;
  coll.operation = motion_planning_msgs::CollisionOperation::DISABLE;
  ord.collision_operations.push_back(coll);
  if (place_goal.allow_gripper_support_collision)
  {
    coll.object1 = handDescription().gripperCollisionName(place_goal.arm_name);
    coll.object2 = place_goal.collision_support_surface_name;
    ord.collision_operations.push_back(coll);
  }
  ord.collision_operations = concat(ord.collision_operations,
                                    place_goal.additional_collision_operations.collision_operations);

  //zero padding on fingertip links
  std::vector<motion_planning_msgs::LinkPadding> link_padding =
    MechanismInterface::fingertipPadding(place_goal.arm_name, 0.0);
  // padding on grasped object, which is still attached to the gripper
  motion_planning_msgs::LinkPadding padding;
  padding.link_name = handDescription().attachedName(place_goal.arm_name);
  padding.padding = place_goal.place_padding;
  link_padding.push_back(padding);
  link_padding = concat(link_padding, place_goal.additional_link_padding);

  geometry_msgs::Vector3Stamped place_direction;
  place_direction.header.frame_id = place_goal.approach.direction.header.frame_id;
  place_direction.header.stamp = ros::Time::now();
  place_direction.vector = mechInterface().negate(place_goal.approach.direction.vector);

  //search backwards from place to pre-place
  std::vector<double> empty;
  float actual_distance;
  ROS_INFO(" PlaceExecutor: compute from place to pre-place");
  int error_code = mechInterface().getInterpolatedIK(place_goal.arm_name,
                                                     gripper_place_pose, place_direction,
                                                     place_goal.approach.desired_distance,
                                                     empty,
                                                     place_goal.grasp.grasp_posture,
                                                     ord, link_padding,
                                                     true, place_trajectory_, actual_distance);
  ROS_DEBUG(" Place trajectory: actual(%f), min(%f), desired (%f)",
            actual_distance, place_goal.approach.min_distance, place_goal.approach.desired_distance);

  if (actual_distance < place_goal.approach.min_distance)
  {
    ROS_DEBUG("Place trajectory below min. threshold");
    if (place_trajectory_.points.empty())
    {
      ROS_DEBUG("Place trajectory empty; problem is with place location");
      if (error_code == ArmNavigationErrorCodes::COLLISION_CONSTRAINTS_VIOLATED)
        return Result(PlaceLocationResult::PLACE_IN_COLLISION, true);
      else if (error_code == ArmNavigationErrorCodes::JOINT_LIMITS_VIOLATED)
        return Result(PlaceLocationResult::PLACE_OUT_OF_REACH, true);
      else return Result(PlaceLocationResult::PLACE_UNFEASIBLE, true);
    }
    if (error_code == ArmNavigationErrorCodes::COLLISION_CONSTRAINTS_VIOLATED)
      return Result(PlaceLocationResult::PREPLACE_IN_COLLISION, true);
    else if (error_code == ArmNavigationErrorCodes::JOINT_LIMITS_VIOLATED)
      return Result(PlaceLocationResult::PREPLACE_OUT_OF_REACH, true);
    else return Result(PlaceLocationResult::PREPLACE_UNFEASIBLE, true);
  }


  //make sure first position is feasible with default padding
  if ( !mechInterface().checkStateValidity(place_goal.arm_name, place_trajectory_.points.front().positions,
                                           place_goal.additional_collision_operations,
                                           place_goal.additional_link_padding) )
  {
    ROS_DEBUG("First pose in place trajectory is unfeasible with default padding");
    return Result(PlaceLocationResult::PREPLACE_UNFEASIBLE, true);
  }


  //disable all collisions on grasped object, since we are no longer holding it during the retreat
  coll.object1 = place_goal.collision_object_name;
  coll.object2 = coll.COLLISION_SET_ALL;
  coll.operation = motion_planning_msgs::CollisionOperation::DISABLE;
  ord.collision_operations.clear();
  ord.collision_operations.push_back(coll);
  if (place_goal.allow_gripper_support_collision)
  {
    coll.object1 = handDescription().gripperCollisionName(place_goal.arm_name);
    coll.object2 = place_goal.collision_support_surface_name;
    ord.collision_operations.push_back(coll);
  }
  ord.collision_operations = concat(ord.collision_operations,
                                    place_goal.additional_collision_operations.collision_operations);

  geometry_msgs::Vector3Stamped retreat_direction;
  retreat_direction.header.stamp = ros::Time::now();
  retreat_direction.header.frame_id = handDescription().gripperFrame(place_goal.arm_name);
  retreat_direction.vector = mechInterface().negate( handDescription().approachDirection(place_goal.arm_name) );

  //search from place to retreat, using solution from place as seed
  ROS_INFO(" PlaceExecutor: compute from place to retreat");
  std::vector<double> place_joint_angles = place_trajectory_.points.back().positions;
  mechInterface().getInterpolatedIK(place_goal.arm_name,
                                    gripper_place_pose, retreat_direction,
                                    place_goal.desired_retreat_distance,
                                    place_joint_angles,
                                    place_goal.grasp.pre_grasp_posture,
                                    ord, link_padding,
                                    false, retreat_trajectory_, actual_distance);
  ROS_DEBUG("Retreat trajectory: actual (%f), min (%f) and desired (%f)", actual_distance,
           place_goal.min_retreat_distance, place_goal.desired_retreat_distance);

  if (actual_distance < place_goal.min_retreat_distance)
  {
   ROS_DEBUG("Retreat trajectory below min. threshold");
    if (retreat_trajectory_.points.empty())
    {
      ROS_DEBUG("Retreat trajectory empty; problem is with place location");
      if (error_code == ArmNavigationErrorCodes::COLLISION_CONSTRAINTS_VIOLATED)
        return Result(PlaceLocationResult::PLACE_IN_COLLISION, true);
      else if (error_code == ArmNavigationErrorCodes::JOINT_LIMITS_VIOLATED)
        return Result(PlaceLocationResult::PLACE_OUT_OF_REACH, true);
      else return Result(PlaceLocationResult::PLACE_UNFEASIBLE, true);
    }
    if (error_code == ArmNavigationErrorCodes::COLLISION_CONSTRAINTS_VIOLATED)
      return Result(PlaceLocationResult::RETREAT_IN_COLLISION, true);
    else if (error_code == ArmNavigationErrorCodes::JOINT_LIMITS_VIOLATED)
      return Result(PlaceLocationResult::RETREAT_OUT_OF_REACH, true);
    else return Result(PlaceLocationResult::RETREAT_UNFEASIBLE, true);
  }

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

PlaceLocationResult
PlaceExecutor::placeApproach(const object_manipulation_msgs::PlaceGoal &place_goal,
                             const geometry_msgs::PoseStamped&)
{
  mechInterface().attemptTrajectory(place_goal.arm_name, place_trajectory_, true);
  return Result(PlaceLocationResult::SUCCESS, true);
}


PlaceLocationResult PlaceExecutor::place(const object_manipulation_msgs::PlaceGoal &place_goal,
                                         const geometry_msgs::PoseStamped &place_location)
{
  //demo_synchronizer::getClient().rviz(1, "Collision models;IK contacts;Interpolated IK;Grasp execution");

  //compute interpolated trajectories
  PlaceLocationResult result = prepareInterpolatedTrajectories(place_goal, place_location);
  if (result.result_code != PlaceLocationResult::SUCCESS) return result;

  //demo_synchronizer::getClient().sync(2, "Using motion planner to move arm to pre-place location");
  //demo_synchronizer::getClient().rviz(1, "Collision models;Planning goal;Environment contacts;Collision map");

  //whether we are using the constraints or not
  bool use_constraints = true;

  //check if we can actually understand the constraints
  if(!constraintsUnderstandable(place_goal.path_constraints))
  {
    ROS_WARN("Constraints passed to place executor are of types not yet handled. Ignoring them.");
    use_constraints = false;
  }

  if (place_goal.path_constraints.orientation_constraints.empty())
  {
    use_constraints = false;
  }

  if(use_constraints)
  {
    //recompute the pre-place pose from the already computed trajectory
    geometry_msgs::PoseStamped place_pose;
    place_pose.header.frame_id = place_location.header.frame_id;
    place_pose.header.stamp = ros::Time(0.0);
    //ROS_DEBUG("Place pose in frame: %s",place_pose.header.frame_id.c_str());
    if(!mechInterface().getFK(place_goal.arm_name, place_trajectory_.points.front().positions, place_pose))
    {
      ROS_ERROR("Could not re-compute pre-place pose based on trajectory");
      throw MechanismException("Could not re-compute pre-place pose based on trajectory");
    }
    ROS_DEBUG("Attempting move arm to pre-place with constraints");
    if (!mechInterface().moveArmConstrained(place_goal.arm_name, place_pose,
                                            place_goal.additional_collision_operations,
                                            place_goal.additional_link_padding,
                                            place_goal.path_constraints,
                                            place_trajectory_.points.front().positions[2],
                                            false))
    {
      //TODO: in the future, this should be hard stop, with an informative message back
      //to the caller saying the constraints have failed
      ROS_WARN("Object place: move_arm to pre-place with constraints failed. Trying again without constraints.");
      use_constraints = false;
    }
  }

  //try to go to the pre-place pose without constraints
  if(!use_constraints)
  {
    ROS_DEBUG("Attempting move arm to pre-place without constraints");
    if ( !mechInterface().attemptMoveArmToGoal(place_goal.arm_name, place_trajectory_.points.front().positions,
                                               place_goal.additional_collision_operations,
                                               place_goal.additional_link_padding) )
    {
      ROS_DEBUG("Object place: move_arm (without constraints) to pre-place reports failure");
      return Result(PlaceLocationResult::MOVE_ARM_FAILED, true);
    }
  }
  ROS_DEBUG(" Arm moved to pre-place");

  //demo_synchronizer::getClient().sync(2, "Executing interpolated IK path for place, detaching and retreating");
  //demo_synchronizer::getClient().rviz(1, "Collision models");

  result = placeApproach(place_goal, place_location);
  if ( result.result_code != PlaceLocationResult::SUCCESS)
  {
    ROS_DEBUG(" Pre-place to place approach failed");
    return Result(PlaceLocationResult::PLACE_FAILED, false);
  }
  ROS_DEBUG(" Place trajectory done");

  mechInterface().detachAndAddBackObjectsAttachedToGripper(place_goal.arm_name, place_goal.collision_object_name);
  ROS_DEBUG(" Object detached");

  mechInterface().handPostureGraspAction(place_goal.arm_name, place_goal.grasp,
                                         object_manipulation_msgs::GraspHandPostureExecutionGoal::RELEASE);
  ROS_DEBUG(" Object released");

  result = retreat(place_goal);
  if (result.result_code != PlaceLocationResult::SUCCESS)
  {
    return Result(PlaceLocationResult::RETREAT_FAILED, false);
  }
  return Result(PlaceLocationResult::SUCCESS, true);
}

bool PlaceExecutor::constraintsUnderstandable(const motion_planning_msgs::Constraints &constraints)
{
  if(constraints.position_constraints.empty() && constraints.orientation_constraints.empty() &&
     constraints.joint_constraints.empty() && constraints.visibility_constraints.empty())
    return true;
  if(constraints.orientation_constraints.size() == 1 && constraints.position_constraints.empty()
     && constraints.joint_constraints.empty() && constraints.visibility_constraints.empty())
    return true;
  return false;
}

PlaceLocationResult
ReactivePlaceExecutor::placeApproach(const object_manipulation_msgs::PlaceGoal &place_goal,
                                     const geometry_msgs::PoseStamped &place_location)
{
  //compute gripper location for final place
  geometry_msgs::PoseStamped gripper_place_pose = computeGripperPose(place_location,
                                                                     place_goal.grasp.grasp_pose,
                                                                     handDescription().robotFrame(place_goal.arm_name));

  //prepare the goal for reactive placing
  object_manipulation_msgs::ReactivePlaceGoal reactive_place_goal;
  reactive_place_goal.arm_name = place_goal.arm_name;
  reactive_place_goal.collision_object_name = place_goal.collision_object_name;
  reactive_place_goal.collision_support_surface_name = place_goal.collision_support_surface_name;
  reactive_place_goal.trajectory = place_trajectory_;
  reactive_place_goal.final_place_pose = gripper_place_pose;

  //give the reactive place 1 minute to do its thing
  ros::Duration timeout = ros::Duration(60.0);
  ROS_DEBUG(" Calling the reactive place action");
  mechInterface().reactive_place_action_client_.client(place_goal.arm_name).sendGoal(reactive_place_goal);
  if ( !mechInterface().reactive_place_action_client_.client(place_goal.arm_name).waitForResult(timeout) )
  {
    ROS_ERROR("  Reactive place timed out");
    return Result(PlaceLocationResult::PLACE_FAILED, false);
  }
  object_manipulation_msgs::ReactivePlaceResult reactive_place_result =
    *mechInterface().reactive_place_action_client_.client(place_goal.arm_name).getResult();
  if (reactive_place_result.manipulation_result.value != reactive_place_result.manipulation_result.SUCCESS)
  {
    ROS_ERROR("  Reactive place failed with error code %d", reactive_place_result.manipulation_result.value);
    return Result(PlaceLocationResult::PLACE_FAILED, false);
  }
  ROS_DEBUG("  Reactive place action succeeded");
  return Result(PlaceLocationResult::SUCCESS, true);
}

} //namespace object_grasping