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Update deep_pick_place_task.cpp #1

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81d584c
Update deep_pick_place_task.cpp
lianghongzhuo Sep 24, 2020
f3840e4
make the approach vector as a parameter
lianghongzhuo Sep 25, 2020
a852a0a
make the approach vector as a parameter
lianghongzhuo Sep 25, 2020
397982a
make the approach vector as a parameter
lianghongzhuo Sep 25, 2020
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5 changes: 5 additions & 0 deletions deep_grasp_task/config/panda_object.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,11 @@ grasp_frame_transform: [0, 0, 0.1, 1.571, 0.785, 1.571]
place_pose: [0.6, -0.15, 0, 0, 0, 0]
place_surface_offset: 0.0001 # place offset from table

# Approach vector in the hand frame
approach_vector_x: 0.0
approach_vector_y: 0.0
approach_vector_z: 1.0

# Valid distance range when approaching an object for picking
approach_object_min_dist: 0.1
approach_object_max_dist: 0.15
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2 changes: 2 additions & 0 deletions deep_grasp_task/include/deep_grasp_task/deep_pick_place_task.h
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Expand Up @@ -117,6 +117,8 @@ class DeepPickPlaceTask

// Pick metrics
Eigen::Isometry3d grasp_frame_transform_;
geometry_msgs::Vector3 approach_vector_;
geometry_msgs::Vector3 retreat_vector_;
double approach_object_min_dist_;
double approach_object_max_dist_;
double lift_object_min_dist_;
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14 changes: 10 additions & 4 deletions deep_grasp_task/src/deep_pick_place_task.cpp
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Expand Up @@ -81,6 +81,9 @@ void DeepPickPlaceTask::loadParameters()
errors += !rosparam_shortcuts::get(LOGNAME, pnh, "action_name", action_name_);

// Pick/Place metrics
errors += !rosparam_shortcuts::get(LOGNAME, pnh, "approach_vector_x", approach_vector_.x);
errors += !rosparam_shortcuts::get(LOGNAME, pnh, "approach_vector_y", approach_vector_.y);
errors += !rosparam_shortcuts::get(LOGNAME, pnh, "approach_vector_z", approach_vector_.z);
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_);
Expand Down Expand Up @@ -195,7 +198,7 @@ void DeepPickPlaceTask::init()
// Set hand forward direction
geometry_msgs::Vector3Stamped vec;
vec.header.frame_id = hand_frame_;
vec.vector.z = 1.0;
vec.vector = approach_vector_;
stage->setDirection(vec);
grasp->insert(std::move(stage));
}
Expand Down Expand Up @@ -238,7 +241,7 @@ void DeepPickPlaceTask::init()
***************************************************/
{
auto stage = std::make_unique<stages::MoveTo>("close hand", sampling_planner);
stage->properties().property("group").configureInitFrom(Stage::PARENT, hand_group_name_);
stage->setGroup(hand_group_name_);
stage->setGoal(hand_close_pose_);
grasp->insert(std::move(stage));
}
Expand Down Expand Up @@ -366,7 +369,7 @@ void DeepPickPlaceTask::init()
*****************************************************/
{
auto stage = std::make_unique<stages::MoveTo>("open hand", sampling_planner);
stage->properties().property("group").configureInitFrom(Stage::PARENT, hand_group_name_);
stage->setGroup(hand_group_name_);
stage->setGoal(hand_open_pose_);
place->insert(std::move(stage));
}
Expand Down Expand Up @@ -402,7 +405,10 @@ void DeepPickPlaceTask::init()
stage->properties().set("marker_ns", "retreat");
geometry_msgs::Vector3Stamped vec;
vec.header.frame_id = hand_frame_;
vec.vector.z = -1.0;
retreat_vector_.x = -approach_vector_.x;
retreat_vector_.y = -approach_vector_.y;
retreat_vector_.z = -approach_vector_.z;
vec.vector = retreat_vector_;
stage->setDirection(vec);
place->insert(std::move(stage));
}
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