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grasp_generator.cpp
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grasp_generator.cpp
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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2015, University of Colorado, Boulder
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the Univ of CO, Boulder nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
/* Author: Dave Coleman <dave@picknik.ai>, Andy McEvoy
Desc: Generates geometric grasps for cuboids and blocks, not using physics or contact wrenches
*/
#include <moveit_grasps/grasp_generator.h>
#include <rosparam_shortcuts/rosparam_shortcuts.h>
namespace
{
void debugFailedOpenGripper(double percent_open, double min_finger_open_on_approach, double object_width,
double grasp_padding_on_approach)
{
ROS_ERROR_STREAM_NAMED("grasp_generator", "Unable to set grasp width to "
<< percent_open << " % open. Stats:"
<< "\n min_finger_open_on_approach: \t " << min_finger_open_on_approach
<< "\n object_width: \t " << object_width
<< "\n grasp_padding_on_approach_: \t " << grasp_padding_on_approach);
}
} // namespace
namespace moveit_grasps
{
// Constructor
GraspGenerator::GraspGenerator(moveit_visual_tools::MoveItVisualToolsPtr visual_tools, bool verbose)
: ideal_grasp_pose_(Eigen::Affine3d::Identity())
, visual_tools_(visual_tools)
, verbose_(verbose)
, nh_("~/moveit_grasps/generator")
, grasp_score_weights_(GraspScoreWeights())
{
// Load visulization settings
const std::string parent_name = "grasps"; // for namespacing logging messages
std::size_t error = 0;
error += !rosparam_shortcuts::get(parent_name, nh_, "verbose", verbose_);
error += !rosparam_shortcuts::get(parent_name, nh_, "show_prefiltered_grasps", show_prefiltered_grasps_);
error += !rosparam_shortcuts::get(parent_name, nh_, "show_prefiltered_grasps_speed", show_prefiltered_grasps_speed_);
error += !rosparam_shortcuts::get(parent_name, nh_, "debug_top_grasps", debug_top_grasps_);
error += !rosparam_shortcuts::get(parent_name, nh_, "show_grasp_overhang", show_grasp_overhang_);
// Load scoring weights
rosparam_shortcuts::shutdownIfError(parent_name, error);
}
void GraspGenerator::setIdealGraspPoseRPY(const std::vector<double>& ideal_grasp_orientation_rpy)
{
ROS_ASSERT_MSG(ideal_grasp_orientation_rpy.size() == 3, "setIdealGraspPoseRPY must be set with a vector of length 3");
// copy the ideal_grasp_pose.translation() so that we only change the orientation.
Eigen::Vector3d ideal_grasp_pose_translation(ideal_grasp_pose_.translation());
// Set ideal grasp pose (currently only uses orientation of pose)
ideal_grasp_pose_ = Eigen::Affine3d::Identity();
ideal_grasp_pose_ = ideal_grasp_pose_ * Eigen::AngleAxisd(ideal_grasp_orientation_rpy[0], Eigen::Vector3d::UnitX());
ideal_grasp_pose_ = ideal_grasp_pose_ * Eigen::AngleAxisd(ideal_grasp_orientation_rpy[1], Eigen::Vector3d::UnitY());
ideal_grasp_pose_ = ideal_grasp_pose_ * Eigen::AngleAxisd(ideal_grasp_orientation_rpy[2], Eigen::Vector3d::UnitZ());
ideal_grasp_pose_.translation() = ideal_grasp_pose_translation;
}
bool GraspGenerator::generateCuboidAxisGrasps(const Eigen::Affine3d& cuboid_pose, double depth, double width,
double height, grasp_axis_t axis,
const moveit_grasps::GraspDataPtr grasp_data,
const GraspCandidateConfig& grasp_candidate_config,
std::vector<GraspCandidatePtr>& grasp_candidates)
{
double finger_depth = grasp_data->grasp_max_depth_ - grasp_data->grasp_min_depth_;
double length_along_a, length_along_b, length_along_c;
double delta_a, delta_b, delta_f;
double alpha_x, alpha_y, alpha_z;
Eigen::Vector3d object_size(depth, width, height);
double object_width;
std::vector<Eigen::Affine3d> grasp_poses;
Eigen::Affine3d grasp_pose = cuboid_pose;
Eigen::Vector3d a_dir, b_dir, c_dir;
if (axis == X_AXIS)
{
length_along_a = width;
length_along_b = height;
length_along_c = depth;
a_dir = grasp_pose.rotation() * Eigen::Vector3d::UnitY();
b_dir = grasp_pose.rotation() * Eigen::Vector3d::UnitZ();
c_dir = grasp_pose.rotation() * Eigen::Vector3d::UnitX();
alpha_x = -M_PI / 2.0;
alpha_y = 0;
alpha_z = -M_PI / 2.0;
object_width = depth;
}
else if (axis == Y_AXIS)
{
length_along_a = depth;
length_along_b = height;
length_along_c = width;
a_dir = grasp_pose.rotation() * Eigen::Vector3d::UnitX();
b_dir = grasp_pose.rotation() * Eigen::Vector3d::UnitZ();
c_dir = grasp_pose.rotation() * Eigen::Vector3d::UnitY();
alpha_x = 0;
alpha_y = M_PI / 2.0;
alpha_z = M_PI;
object_width = width;
}
else // Z_AXIS
{
length_along_a = depth;
length_along_b = width;
length_along_c = height;
a_dir = grasp_pose.rotation() * Eigen::Vector3d::UnitX();
b_dir = grasp_pose.rotation() * Eigen::Vector3d::UnitY();
c_dir = grasp_pose.rotation() * Eigen::Vector3d::UnitZ();
alpha_x = M_PI / 2.0;
alpha_y = M_PI / 2.0;
alpha_z = 0;
object_width = height;
}
double rotation_angles[3];
rotation_angles[0] = alpha_x;
rotation_angles[1] = alpha_y;
rotation_angles[2] = alpha_z;
a_dir = a_dir.normalized();
b_dir = b_dir.normalized();
c_dir = c_dir.normalized();
// Add grasps at corners, grasps are centroid aligned
double offset = 0.001; // back the palm off of the object slightly
Eigen::Vector3d corner_translation_a;
Eigen::Vector3d corner_translation_b;
double angle_res = grasp_data->angle_resolution_ * M_PI / 180.0;
std::size_t num_radial_grasps = ceil((M_PI / 2.0) / angle_res);
Eigen::Vector3d translation;
if (grasp_candidate_config.enable_corner_grasps_)
{
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps", "adding corner grasps...");
corner_translation_a = 0.5 * (length_along_a + offset) * a_dir;
corner_translation_b = 0.5 * (length_along_b + offset) * b_dir;
if (num_radial_grasps <= 0)
num_radial_grasps = 1;
// move to corner 0.5 * ( -a, -b)
translation = -corner_translation_a - corner_translation_b;
addCornerGraspsHelper(cuboid_pose, rotation_angles, translation, 0.0, num_radial_grasps, grasp_poses);
// move to corner 0.5 * ( -a, +b)
translation = -corner_translation_a + corner_translation_b;
addCornerGraspsHelper(cuboid_pose, rotation_angles, translation, -M_PI / 2.0, num_radial_grasps, grasp_poses);
// move to corner 0.5 * ( +a, +b)
translation = corner_translation_a + corner_translation_b;
addCornerGraspsHelper(cuboid_pose, rotation_angles, translation, M_PI, num_radial_grasps, grasp_poses);
// move to corner 0.5 * ( +a, -b)
translation = corner_translation_a - corner_translation_b;
addCornerGraspsHelper(cuboid_pose, rotation_angles, translation, M_PI / 2.0, num_radial_grasps, grasp_poses);
}
std::size_t num_corner_grasps = grasp_poses.size();
// Create grasps along faces of cuboid, grasps are axis aligned
std::size_t num_grasps_along_a;
std::size_t num_grasps_along_b;
double rotation;
Eigen::Vector3d a_translation;
Eigen::Vector3d b_translation;
Eigen::Vector3d delta;
// get exact deltas for sides from desired delta
num_grasps_along_a = floor((length_along_a - grasp_data->gripper_finger_width_) / grasp_data->grasp_resolution_) + 1;
num_grasps_along_b = floor((length_along_b - grasp_data->gripper_finger_width_) / grasp_data->grasp_resolution_) + 1;
// if the gripper fingers are wider than the object we're trying to grasp, try with gripper aligned with
// top/center/bottom of object
// note that current implementation limits objects that are the same size as the gripper_finger_width to 1 grasp
if (num_grasps_along_a <= 0)
{
delta_a = length_along_a - grasp_data->gripper_finger_width_ / 2.0;
num_grasps_along_a = 3;
}
if (num_grasps_along_b <= 0)
{
delta_b = length_along_b - grasp_data->gripper_finger_width_ / 2.0;
num_grasps_along_b = 3;
}
if (num_grasps_along_a == 1)
delta_a = 0;
else
delta_a = (length_along_a - grasp_data->gripper_finger_width_) / static_cast<double>(num_grasps_along_a - 1);
if (num_grasps_along_b == 1)
delta_b = 0;
else
delta_b = (length_along_b - grasp_data->gripper_finger_width_) / static_cast<double>(num_grasps_along_b - 1);
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps", "delta_a : delta_b = " << delta_a << " : " << delta_b);
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps", "num_grasps_along_a : num_grasps_along_b = "
<< num_grasps_along_a << " : " << num_grasps_along_b);
// TODO(mlautman): There is a bug with face grasps allowing the grasp generator to generate grasps where the gripper
// fingers
// are in collision with the object being grasped
if (grasp_candidate_config.enable_face_grasps_)
{
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps", "adding face grasps...");
a_translation = -(0.5 * (length_along_a + offset) * a_dir) -
0.5 * (length_along_b - grasp_data->gripper_finger_width_) * b_dir - delta_b * b_dir;
b_translation = -0.5 * (length_along_a - grasp_data->gripper_finger_width_) * a_dir - delta_a * a_dir -
(0.5 * (length_along_b + offset) * b_dir);
// grasps along -a_dir face
delta = delta_b * b_dir;
rotation = 0.0;
addFaceGraspsHelper(cuboid_pose, rotation_angles, a_translation, delta, rotation, num_grasps_along_b, grasp_poses);
// grasps along +b_dir face
rotation = -M_PI / 2.0;
delta = -delta_a * a_dir;
addFaceGraspsHelper(cuboid_pose, rotation_angles, -b_translation, delta, rotation, num_grasps_along_b, grasp_poses);
// grasps along +a_dir face
rotation = M_PI;
delta = -delta_b * b_dir;
addFaceGraspsHelper(cuboid_pose, rotation_angles, -a_translation, delta, rotation, num_grasps_along_b, grasp_poses);
// grasps along -b_dir face
rotation = M_PI / 2.0;
delta = delta_a * a_dir;
addFaceGraspsHelper(cuboid_pose, rotation_angles, b_translation, delta, rotation, num_grasps_along_b, grasp_poses);
}
// add grasps at variable angles
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps", "adding variable angle grasps...");
Eigen::Affine3d base_pose;
std::size_t num_grasps = grasp_poses.size();
if (grasp_candidate_config.enable_variable_angle_grasps_)
{
for (std::size_t i = num_corner_grasps; i < num_grasps;
i++) // corner grasps at zero depth don't need variable angles
{
base_pose = grasp_poses[i];
grasp_pose = base_pose * Eigen::AngleAxisd(angle_res, Eigen::Vector3d::UnitY());
std::size_t max_iterations = M_PI / angle_res + 1;
std::size_t iterations = 0;
while (graspIntersectionHelper(cuboid_pose, depth, width, height, grasp_pose, grasp_data))
{
grasp_poses.push_back(grasp_pose);
// visual_tools_->publishZArrow(grasp_pose, rviz_visual_tools::BLUE, rviz_visual_tools::XSMALL, 0.02);
grasp_pose *= Eigen::AngleAxisd(angle_res, Eigen::Vector3d::UnitY());
// ros::Duration(0.2).sleep();
iterations++;
if (iterations > max_iterations)
{
ROS_WARN_STREAM_NAMED("cuboid_axis_grasps", "exceeded max iterations while creating variable angle grasps");
break;
}
}
iterations = 0;
grasp_pose = base_pose * Eigen::AngleAxisd(-angle_res, Eigen::Vector3d::UnitY());
while (graspIntersectionHelper(cuboid_pose, depth, width, height, grasp_pose, grasp_data))
{
grasp_poses.push_back(grasp_pose);
// visual_tools_->publishZArrow(grasp_pose, rviz_visual_tools::CYAN, rviz_visual_tools::XSMALL, 0.02);
grasp_pose *= Eigen::AngleAxisd(-angle_res, Eigen::Vector3d::UnitY());
// ros::Duration(0.2).sleep();
iterations++;
if (iterations > max_iterations)
{
ROS_WARN_STREAM_NAMED("cuboid_axis_grasps", "exceeded max iterations while creating variable angle grasps");
break;
}
}
}
}
if (grasp_candidate_config.enable_edge_grasps_)
{
// Add grasps along edges
// move grasp pose to edge of cuboid
double a_sign = 1.0;
double b_sign = 1.0;
double a_rot_sign = 1.0;
double b_rot_sign = 1.0;
if (axis == Y_AXIS)
{
a_sign = -1.0;
b_rot_sign = -1.0;
}
if (axis == Z_AXIS)
{
a_sign = -1.0;
b_sign = -1.0;
a_rot_sign = -1.0;
b_rot_sign = -1.0;
}
a_translation = -0.5 * (length_along_a + offset) * a_dir -
0.5 * (length_along_b - grasp_data->gripper_finger_width_) * b_dir - delta_b * b_dir -
0.5 * (length_along_c + offset) * c_dir * a_sign;
b_translation = -0.5 * (length_along_a - grasp_data->gripper_finger_width_) * a_dir - delta_a * a_dir -
(0.5 * (length_along_b + offset) * b_dir) - 0.5 * (length_along_c + offset) * c_dir * b_sign;
// grasps along -a_dir face
delta = delta_b * b_dir;
rotation = 0.0;
addEdgeGraspsHelper(cuboid_pose, rotation_angles, a_translation, delta, rotation, num_grasps_along_b, grasp_poses,
-M_PI / 4.0 * a_rot_sign);
// grasps along +b_dir face
rotation = -M_PI / 2.0;
delta = -delta_a * a_dir;
addEdgeGraspsHelper(cuboid_pose, rotation_angles, -b_translation, delta, rotation, num_grasps_along_b, grasp_poses,
M_PI / 4.0 * b_rot_sign);
// grasps along +a_dir face
rotation = M_PI;
delta = -delta_b * b_dir;
addEdgeGraspsHelper(cuboid_pose, rotation_angles, -a_translation, delta, rotation, num_grasps_along_b, grasp_poses,
M_PI / 4.0 * a_rot_sign);
// grasps along -b_dir face
rotation = M_PI / 2.0;
delta = delta_a * a_dir;
addEdgeGraspsHelper(cuboid_pose, rotation_angles, b_translation, delta, rotation, num_grasps_along_b, grasp_poses,
-M_PI / 4.0 * b_rot_sign);
}
// Add grasps at variable depths
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps", "adding depth grasps...");
std::size_t num_depth_grasps = ceil(finger_depth / grasp_data->grasp_depth_resolution_);
if (num_depth_grasps <= 0)
num_depth_grasps = 1;
delta_f = finger_depth / static_cast<double>(num_depth_grasps);
num_grasps = grasp_poses.size();
Eigen::Vector3d grasp_dir;
Eigen::Affine3d depth_pose;
for (std::size_t i = 0; i < num_grasps; i++)
{
grasp_dir = grasp_poses[i].rotation() * Eigen::Vector3d::UnitZ();
depth_pose = grasp_poses[i];
for (std::size_t j = 0; j < num_depth_grasps; j++)
{
depth_pose.translation() += delta_f * grasp_dir;
grasp_poses.push_back(depth_pose);
}
}
// add grasps in both directions
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps", "adding bi-directional grasps...");
num_grasps = grasp_poses.size();
for (std::size_t i = 0; i < num_grasps; i++)
{
grasp_pose = grasp_poses[i];
grasp_pose *= Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitZ());
grasp_poses.push_back(grasp_pose);
}
// compute min/max distances to object
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps", "computing min/max grasp distance...");
num_grasps = grasp_poses.size();
min_grasp_distance_ = std::numeric_limits<double>::max();
max_grasp_distance_ = std::numeric_limits<double>::min();
min_translations_ = Eigen::Vector3d(std::numeric_limits<double>::max(), std::numeric_limits<double>::max(),
std::numeric_limits<double>::max());
max_translations_ = Eigen::Vector3d(std::numeric_limits<double>::min(), std::numeric_limits<double>::min(),
std::numeric_limits<double>::min());
double grasp_distance;
for (std::size_t i = 0; i < num_grasps; i++)
{
grasp_pose = grasp_poses[i];
grasp_distance = (grasp_pose.translation() - cuboid_pose.translation()).norm();
if (grasp_distance > max_grasp_distance_)
max_grasp_distance_ = grasp_distance;
if (grasp_distance < min_grasp_distance_)
min_grasp_distance_ = grasp_distance;
for (std::size_t j = 0; j < 3; j++)
{
if (grasp_pose.translation()[j] < min_translations_[j])
min_translations_[j] = grasp_pose.translation()[j];
if (grasp_pose.translation()[j] > max_translations_[j])
max_translations_[j] = grasp_pose.translation()[j];
}
}
ROS_DEBUG_STREAM_NAMED("grasp_generator.add", "min/max distance = " << min_grasp_distance_ << ", "
<< max_grasp_distance_);
// add all poses as possible grasps
std::size_t num_grasps_added = 0;
for (std::size_t i = 0; i < grasp_poses.size(); i++)
{
if (!addGrasp(grasp_poses[i], grasp_data, grasp_candidates, cuboid_pose, object_size, object_width))
{
ROS_DEBUG_STREAM_NAMED("grasp_generator.add", "Unable to add grasp - function returned false");
}
else
num_grasps_added++;
}
ROS_INFO_STREAM_NAMED("grasp_generator.add", "\033[1;36madded " << num_grasps_added << " of " << grasp_poses.size()
<< " grasp poses created\033[0m");
return true;
}
std::size_t GraspGenerator::addFaceGraspsHelper(Eigen::Affine3d pose, double rotation_angles[3],
Eigen::Vector3d translation, Eigen::Vector3d delta,
double alignment_rotation, std::size_t num_grasps,
std::vector<Eigen::Affine3d>& grasp_poses)
{
std::size_t num_grasps_added = 0;
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps.helper", "delta = \n" << delta);
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps.helper", "num_grasps = " << num_grasps);
Eigen::Affine3d grasp_pose = pose;
grasp_pose *= Eigen::AngleAxisd(rotation_angles[0], Eigen::Vector3d::UnitX()) *
Eigen::AngleAxisd(rotation_angles[1], Eigen::Vector3d::UnitY()) *
Eigen::AngleAxisd(rotation_angles[2], Eigen::Vector3d::UnitZ());
grasp_pose *= Eigen::AngleAxisd(alignment_rotation, Eigen::Vector3d::UnitY());
grasp_pose.translation() += translation;
for (std::size_t i = 0; i < num_grasps; i++)
{
grasp_pose.translation() += delta;
grasp_poses.push_back(grasp_pose);
num_grasps_added++;
}
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps.helper",
"num_grasps_added : grasp_poses.size() = " << num_grasps_added << " : " << grasp_poses.size());
return true;
}
std::size_t GraspGenerator::addEdgeGraspsHelper(Eigen::Affine3d pose, double rotation_angles[3],
Eigen::Vector3d translation, Eigen::Vector3d delta,
double alignment_rotation, std::size_t num_grasps,
std::vector<Eigen::Affine3d>& grasp_poses, double corner_rotation)
{
std::size_t num_grasps_added = 0;
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps.helper", "delta = \n" << delta);
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps.helper", "num_grasps = " << num_grasps);
Eigen::Affine3d grasp_pose = pose;
grasp_pose *= Eigen::AngleAxisd(rotation_angles[0], Eigen::Vector3d::UnitX()) *
Eigen::AngleAxisd(rotation_angles[1], Eigen::Vector3d::UnitY()) *
Eigen::AngleAxisd(rotation_angles[2], Eigen::Vector3d::UnitZ());
grasp_pose *= Eigen::AngleAxisd(alignment_rotation, Eigen::Vector3d::UnitY());
// rotate towards cuboid
grasp_pose *= Eigen::AngleAxisd(corner_rotation, Eigen::Vector3d::UnitX());
grasp_pose.translation() += translation;
for (std::size_t i = 0; i < num_grasps; i++)
{
grasp_pose.translation() += delta;
grasp_poses.push_back(grasp_pose);
num_grasps_added++;
}
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps.helper",
"num_grasps_added : grasp_poses.size() = " << num_grasps_added << " : " << grasp_poses.size());
return true;
}
std::size_t GraspGenerator::addCornerGraspsHelper(Eigen::Affine3d pose, double rotation_angles[3],
Eigen::Vector3d translation, double corner_rotation,
std::size_t num_radial_grasps,
std::vector<Eigen::Affine3d>& grasp_poses)
{
std::size_t num_grasps_added = 0;
double delta_angle = (M_PI / 2.0) / static_cast<double>(num_radial_grasps + 1);
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps.helper", "delta_angle = " << delta_angle);
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps.helper", "num_radial_grasps = " << num_radial_grasps);
// rotate & translate pose to be aligned with edge of cuboid
Eigen::Affine3d grasp_pose = pose;
grasp_pose *= Eigen::AngleAxisd(rotation_angles[0], Eigen::Vector3d::UnitX()) *
Eigen::AngleAxisd(rotation_angles[1], Eigen::Vector3d::UnitY()) *
Eigen::AngleAxisd(rotation_angles[2], Eigen::Vector3d::UnitZ());
grasp_pose *= Eigen::AngleAxisd(corner_rotation, Eigen::Vector3d::UnitY());
grasp_pose.translation() += translation;
for (std::size_t i = 0; i < num_radial_grasps; i++)
{
// Eigen::Vector3d grasp_dir = grasp_pose.rotation() * Eigen::Vector3d::UnitZ();
// Eigen::Affine3d radial_pose = grasp_pose;
grasp_pose *= Eigen::AngleAxisd(delta_angle, Eigen::Vector3d::UnitY());
grasp_poses.push_back(grasp_pose);
num_grasps_added++;
}
ROS_DEBUG_STREAM_NAMED("cuboid_axis_grasps.helper",
"num_grasps_added : grasp_poses.size() = " << num_grasps_added << " : " << grasp_poses.size());
return num_grasps_added;
}
bool GraspGenerator::graspIntersectionHelper(Eigen::Affine3d cuboid_pose, double depth, double width, double height,
Eigen::Affine3d grasp_pose, const GraspDataPtr grasp_data)
{
// TODO(davetcoleman): add parameter to enable vizualization commented lines after further testing
// get line segment from grasp point to fingertip
Eigen::Vector3d point_a = grasp_pose.translation();
Eigen::Vector3d point_b = point_a + grasp_pose.rotation() * Eigen::Vector3d::UnitZ() * grasp_data->grasp_max_depth_;
// translate points into cuboid coordinate system
point_a = cuboid_pose.inverse() * point_a; // T_cuboid-world * p_world = p_cuboid
point_b = cuboid_pose.inverse() * point_b;
// if (verbose_)
// {
// visual_tools_->publishCuboid(visual_tools_->convertPose(Eigen::Affine3d::Identity()), depth, width, height,
// rviz_visual_tools::TRANSLUCENT);
// visual_tools_->publishAxis(Eigen::Affine3d::Identity());
// visual_tools_->publishSphere(point_a, rviz_visual_tools::WHITE, 0.005);
// visual_tools_->publishSphere(point_b, rviz_visual_tools::GREY, 0.005);
// visual_tools_->publishLine(point_a, point_b, rviz_visual_tools::BLUE, rviz_visual_tools::XSMALL);
// }
double t, u, v;
Eigen::Vector3d intersection;
// check if line segment intersects XY faces of cuboid (z = +/- height/2)
t = (height / 2.0 - point_a[2]) / (point_b[2] - point_a[2]); // parameterization of line segment in 3d
if (intersectionHelper(t, point_a[0], point_a[1], point_b[0], point_b[1], depth, width, u, v))
{
// if (verbose_)
// {
// intersection[0]= u;
// intersection[1]= v;
// intersection[2]= height / 2.0;
// visual_tools_->publishSphere(intersection, rviz_visual_tools::BLUE, 0.005);
// }
return true;
}
t = (-height / 2.0 - point_a[2]) / (point_b[2] - point_a[2]);
if (intersectionHelper(t, point_a[0], point_a[1], point_b[0], point_b[1], depth, width, u, v))
{
// if (verbose_)
// {
// intersection[0]= u;
// intersection[1]= v;
// intersection[2]= -height / 2.0;
// visual_tools_->publishSphere(intersection, rviz_visual_tools::CYAN, 0.005);
// }
return true;
}
// check if line segment intersects XZ faces of cuboid (y = +/- width/2)
t = (width / 2.0 - point_a[1]) / (point_b[1] - point_a[1]);
if (intersectionHelper(t, point_a[0], point_a[2], point_b[0], point_b[2], depth, height, u, v))
{
// if (verbose_)
// {
// intersection[0]= u;
// intersection[1]= width / 2.0;
// intersection[2]= v;
// visual_tools_->publishSphere(intersection, rviz_visual_tools::GREEN, 0.005);
// }
return true;
}
t = (-width / 2.0 - point_a[1]) / (point_b[1] - point_a[1]);
if (intersectionHelper(t, point_a[0], point_a[2], point_b[0], point_b[2], depth, height, u, v))
{
// if (verbose_)
// {
// intersection[0]= u;
// intersection[1]= -width / 2.0;
// intersection[2]= v;
// visual_tools_->publishSphere(intersection, rviz_visual_tools::LIME_GREEN, 0.005);
// }
return true;
}
// check if line segment intersects YZ faces of cuboid (x = +/- depth/2)
t = (depth / 2.0 - point_a[0]) / (point_b[0] - point_a[0]);
if (intersectionHelper(t, point_a[1], point_a[2], point_b[1], point_b[2], width, height, u, v))
{
// if (verbose_)
// {
// intersection[0]= depth / 2.0;
// intersection[1]= u;
// intersection[2]= v;
// visual_tools_->publishSphere(intersection, rviz_visual_tools::RED, 0.005);
// }
return true;
}
t = (-depth / 2.0 - point_a[0]) / (point_b[0] - point_a[0]);
if (intersectionHelper(t, point_a[1], point_a[2], point_b[1], point_b[2], width, height, u, v))
{
// if (verbose_)
// {
// intersection[0]= -depth / 2.0;
// intersection[1]= u;
// intersection[2]= v;
// visual_tools_->publishSphere(intersection, rviz_visual_tools::PINK, 0.005);
// }
return true;
}
// no intersection found
return false;
}
bool GraspGenerator::intersectionHelper(double t, double u1, double v1, double u2, double v2, double a, double b,
double& u, double& v)
{
// plane must cross through our line segment
if (t >= 0 && t <= 1)
{
u = u1 + t * (u2 - u1);
v = v1 + t * (v2 - v1);
if (u >= -a / 2 && u <= a / 2 && v >= -b / 2 && v <= b / 2)
return true;
}
return false;
}
bool GraspGenerator::addGrasp(const Eigen::Affine3d& grasp_pose, const GraspDataPtr grasp_data,
std::vector<GraspCandidatePtr>& grasp_candidates, const Eigen::Affine3d& object_pose,
const Eigen::Vector3d& object_size, double object_width)
{
if (verbose_)
{
visual_tools_->publishZArrow(grasp_pose, rviz_visual_tools::GREEN, rviz_visual_tools::XXSMALL, 0.05);
visual_tools_->trigger();
ros::Duration(0.01).sleep();
}
// The new grasp
moveit_msgs::Grasp new_grasp;
// Approach and retreat - aligned with eef to grasp transform
// set pregrasp
moveit_msgs::GripperTranslation pre_grasp_approach;
new_grasp.pre_grasp_approach.direction.header.stamp = ros::Time::now();
new_grasp.pre_grasp_approach.desired_distance = grasp_data->grasp_max_depth_ + grasp_data->approach_distance_desired_;
new_grasp.pre_grasp_approach.min_distance = 0; // NOT IMPLEMENTED
new_grasp.pre_grasp_approach.direction.header.frame_id = grasp_data->parent_link_->getName();
Eigen::Vector3d grasp_approach_vector = -1 * grasp_data->grasp_pose_to_eef_pose_.translation();
grasp_approach_vector = grasp_approach_vector / grasp_approach_vector.norm();
new_grasp.pre_grasp_approach.direction.vector.x = grasp_approach_vector.x();
new_grasp.pre_grasp_approach.direction.vector.y = grasp_approach_vector.y();
new_grasp.pre_grasp_approach.direction.vector.z = grasp_approach_vector.z();
// set postgrasp
moveit_msgs::GripperTranslation post_grasp_retreat;
new_grasp.post_grasp_retreat.direction.header.stamp = ros::Time::now();
new_grasp.post_grasp_retreat.desired_distance = grasp_data->grasp_max_depth_ + grasp_data->retreat_distance_desired_;
new_grasp.post_grasp_retreat.min_distance = 0; // NOT IMPLEMENTED
new_grasp.post_grasp_retreat.direction.header.frame_id = grasp_data->parent_link_->getName();
new_grasp.post_grasp_retreat.direction.vector.x = -1 * grasp_approach_vector.x();
new_grasp.post_grasp_retreat.direction.vector.y = -1 * grasp_approach_vector.y();
new_grasp.post_grasp_retreat.direction.vector.z = -1 * grasp_approach_vector.z();
// set grasp pose
geometry_msgs::PoseStamped grasp_pose_msg;
grasp_pose_msg.header.stamp = ros::Time::now();
grasp_pose_msg.header.frame_id = grasp_data->base_link_;
// name the grasp
static std::size_t grasp_id = 0;
new_grasp.id = "Grasp" + boost::lexical_cast<std::string>(grasp_id);
grasp_id++;
// Translate and rotate gripper to match standard orientation
// origin on palm, z pointing outward, x perp to gripper close, y parallel to gripper close direction
// Transform the grasp pose
Eigen::Affine3d eef_pose = grasp_pose * grasp_data->grasp_pose_to_eef_pose_;
tf::poseEigenToMsg(eef_pose, grasp_pose_msg.pose);
new_grasp.grasp_pose = grasp_pose_msg;
// set grasp postures e.g. hand closed
new_grasp.grasp_posture = grasp_data->grasp_posture_;
if (grasp_data->end_effector_type_ == FINGER)
{
// set minimum opening of fingers for pre grasp approach
double min_finger_open_on_approach = object_width + 2 * grasp_data->grasp_padding_on_approach_;
double percent_open;
// Create grasp with widest fingers possible ----------------------------------------------
percent_open = 1.0;
if (!grasp_data->setGraspWidth(percent_open, min_finger_open_on_approach, new_grasp.pre_grasp_posture))
{
debugFailedOpenGripper(percent_open, min_finger_open_on_approach, object_width,
grasp_data->grasp_padding_on_approach_);
return false;
}
new_grasp.grasp_quality = scoreFingerGrasp(grasp_pose, grasp_data, object_pose, percent_open);
// Show visualization for widest grasp
grasp_candidates.push_back(GraspCandidatePtr(new GraspCandidate(new_grasp, grasp_data, object_pose)));
// Create grasp with middle width fingers -------------------------------------------------
percent_open = 0.5;
if (!grasp_data->setGraspWidth(percent_open, min_finger_open_on_approach, new_grasp.pre_grasp_posture))
{
debugFailedOpenGripper(percent_open, min_finger_open_on_approach, object_width,
grasp_data->grasp_padding_on_approach_);
return false;
}
new_grasp.grasp_quality = scoreFingerGrasp(grasp_pose, grasp_data, object_pose, percent_open);
grasp_candidates.push_back(GraspCandidatePtr(new GraspCandidate(new_grasp, grasp_data, object_pose)));
// Create grasp with fingers at minimum width ---------------------------------------------
percent_open = 0.0;
if (!grasp_data->setGraspWidth(percent_open, min_finger_open_on_approach, new_grasp.pre_grasp_posture))
{
debugFailedOpenGripper(percent_open, min_finger_open_on_approach, object_width,
grasp_data->grasp_padding_on_approach_);
return false;
}
new_grasp.grasp_quality = scoreFingerGrasp(grasp_pose, grasp_data, object_pose, percent_open);
grasp_candidates.push_back(GraspCandidatePtr(new GraspCandidate(new_grasp, grasp_data, object_pose)));
return true;
}
if (grasp_data->end_effector_type_ == SUCTION)
{
new_grasp.grasp_quality = scoreSuctionGrasp(grasp_pose, grasp_data, object_pose, object_size);
grasp_candidates.push_back(GraspCandidatePtr(new GraspCandidate(new_grasp, grasp_data, object_pose)));
return true;
}
return false;
}
double GraspGenerator::scoreSuctionGrasp(const Eigen::Affine3d& grasp_pose, const GraspDataPtr& grasp_data,
const Eigen::Affine3d& cuboid_pose, const Eigen::Vector3d& object_size)
{
ROS_DEBUG_STREAM_NAMED("grasp_generator.scoreGrasp",
"Scoring grasp at: \n\tpose: ("
<< grasp_pose.translation().x() << ",\t" << grasp_pose.translation().y() << ",\t"
<< grasp_pose.translation().z() << ")\t(" << grasp_pose.rotation().eulerAngles(0, 1, 2)(0)
<< ",\t" << grasp_pose.rotation().eulerAngles(0, 1, 2)(1) << ",\t"
<< grasp_pose.rotation().eulerAngles(0, 1, 2)(2) << ")\n\tideal: ("
<< ideal_grasp_pose_.translation().x() << ",\t" << ideal_grasp_pose_.translation().y()
<< ",\t" << ideal_grasp_pose_.translation().z() << ")\t("
<< ideal_grasp_pose_.rotation().eulerAngles(0, 1, 2)(0) << ",\t"
<< ideal_grasp_pose_.rotation().eulerAngles(0, 1, 2)(1) << ",\t"
<< ideal_grasp_pose_.rotation().eulerAngles(0, 1, 2)(2) << ")");
// get portion of score based on the orientation
Eigen::Affine3d ideal_grasp = getIdealGraspPose();
// Move the ideal top grasp to the box location
ideal_grasp.translation() = cuboid_pose.translation();
Eigen::Vector3d orientation_scores = GraspScorer::scoreRotationsFromDesired(grasp_pose, ideal_grasp);
// get portion of score based on the translation
Eigen::Vector3d translation_scores = GraspScorer::scoreGraspTranslation(grasp_pose, ideal_grasp);
// Score suction grasp overhang
Eigen::Vector2d overhang_score;
if (show_grasp_overhang_)
overhang_score = GraspScorer::scoreGraspOverhang(grasp_pose, grasp_data, cuboid_pose, object_size, visual_tools_);
else
overhang_score = GraspScorer::scoreGraspOverhang(grasp_pose, grasp_data, cuboid_pose, object_size);
std::size_t num_scores = 8;
double weights[num_scores] = {
grasp_score_weights_.orientation_x_score_weight_, grasp_score_weights_.orientation_y_score_weight_,
grasp_score_weights_.orientation_z_score_weight_, grasp_score_weights_.translation_x_score_weight_,
grasp_score_weights_.translation_y_score_weight_, grasp_score_weights_.translation_z_score_weight_,
grasp_score_weights_.overhang_score_weight_, grasp_score_weights_.overhang_score_weight_
};
double scores[num_scores] = { orientation_scores[0], orientation_scores[1], orientation_scores[2],
translation_scores[0], translation_scores[1], translation_scores[2],
overhang_score[0], overhang_score[1] };
double total_score = 0;
double weight_total = 0;
for (std::size_t i = 0; i < num_scores; i++)
{
total_score += weights[i] * scores[i];
weight_total += weights[i];
}
total_score /= weight_total;
ROS_DEBUG_STREAM_NAMED("grasp_generator.scoreGrasp",
"Grasp score: \n "
<< "\torientation_score.x = " << orientation_scores[0] << "\n"
<< "\torientation_score.y = " << orientation_scores[1] << "\n"
<< "\torientation_score.z = " << orientation_scores[2] << "\n"
<< "\ttranslation_score.x = " << translation_scores[0] << "\n"
<< "\ttranslation_score.y = " << translation_scores[1] << "\n"
<< "\ttranslation_score.z = " << translation_scores[2] << "\n"
<< "\toverhang_score.x = " << overhang_score[0] << "\n"
<< "\toverhang_score.y = " << overhang_score[1] << "\n"
<< "\tweights = " << weights[0] << ", " << weights[1] << ", " << weights[2]
<< ", " << weights[3] << ", " << weights[4] << ", " << weights[5] << ", " << weights[6]
<< ", " << weights[7] << "\n"
<< "\ttotal_score = " << total_score);
return total_score;
}
double GraspGenerator::scoreFingerGrasp(const Eigen::Affine3d& grasp_pose, const GraspDataPtr& grasp_data,
const Eigen::Affine3d& object_pose, double percent_open)
{
ROS_DEBUG_STREAM_NAMED("grasp_generator.scoreGrasp", "starting to score grasp...");
// get portion of score based on the gripper's opening width on approach
double width_score = GraspScorer::scoreGraspWidth(grasp_data, percent_open);
// get portion of score based on the pinchers being down
Eigen::Vector3d orientation_scores = GraspScorer::scoreRotationsFromDesired(grasp_pose, ideal_grasp_pose_);
// get portion of score based on the distance of the grasp pose to the object pose
// NOTE: when this function is called we've lost the references to the acutal size of the object.
// max_distance should be the length of the fingers minus some minimum amount that the fingers need to grip an object
// since we don't know the distance from the centoid of the object to the edge of the object, this is set as an
// arbitrary number given our target object set
double distance_score =
GraspScorer::scoreDistanceToPalm(grasp_pose, grasp_data, object_pose, min_grasp_distance_, max_grasp_distance_);
// should really change this to be like orienation_scores so we can score any translation
Eigen::Vector3d translation_scores =
GraspScorer::scoreGraspTranslation(grasp_pose, min_translations_, max_translations_);
// want minimum translation
translation_scores *= -1.0;
translation_scores += Eigen::Vector3d(1.0, 1.0, 1.0);
// Get total score
std::size_t num_scores = 8;
double weights[num_scores], scores[num_scores];
weights[0] = grasp_score_weights_.width_score_weight_;
weights[1] = grasp_score_weights_.orientation_x_score_weight_;
weights[2] = grasp_score_weights_.orientation_y_score_weight_;
weights[3] = grasp_score_weights_.orientation_z_score_weight_;
weights[4] = grasp_score_weights_.depth_score_weight_;
weights[5] = grasp_score_weights_.translation_x_score_weight_;
weights[6] = grasp_score_weights_.translation_y_score_weight_;
weights[7] = grasp_score_weights_.translation_z_score_weight_;
// Every score is normalized to be in the same range, so new scoring features should also be normalized
scores[0] = width_score;
scores[1] = orientation_scores[0];
scores[2] = orientation_scores[1];
scores[3] = orientation_scores[2];
scores[4] = distance_score;
scores[5] = translation_scores[0];
scores[6] = translation_scores[1];
scores[7] = translation_scores[2];
double total_score = 0;
double high_score = 0;
for (std::size_t i = 0; i < num_scores; i++)
{
total_score += weights[i] * scores[i];
high_score += weights[i];
}
total_score /= high_score;
if (verbose_)
{
ROS_DEBUG_STREAM_NAMED("grasp_generator.scoreGrasp",
"Grasp score: \n "
<< "\twidth_score = " << width_score << "\n"
<< "\torientation_score.x = " << orientation_scores[0] << "\n"
"\torientation_score.y = "
<< orientation_scores[1] << "\n"
"\torientation_score.z = "
<< orientation_scores[2] << "\n"
"\tdistance_score = "
<< distance_score << "\n"
<< "\ttranslation_score.x = " << translation_scores[0] << "\n"
"\ttranslation_score.y = "
<< translation_scores[1] << "\n"
"\ttranslation_score.z = "
<< translation_scores[2] << "\n"
"\tweights = "
<< weights[0] << ", " << weights[1] << ", " << weights[2] << ", " << weights[3] << ", "
<< weights[4] << ", " << weights[5] << ", " << weights[6] << ", " << weights[7] << "\n"
<< "\ttotal_score = " << total_score);
visual_tools_->publishSphere(grasp_pose.translation(), rviz_visual_tools::PINK, 0.01 * total_score);
if (false)
{
char entry[256];
ROS_INFO_STREAM_NAMED("grasp_generator", "\033[1;36m\nPress 'Enter' to continue. Enter 'y' to skip scoring "
"info...\033[0m");
std::cin.getline(entry, 256);
if (entry[0] == 'y')
verbose_ = false;
}
}
return total_score;
}
bool GraspGenerator::generateGrasps(const Eigen::Affine3d& cuboid_pose, double depth, double width, double height,
const moveit_grasps::GraspDataPtr grasp_data,
std::vector<GraspCandidatePtr>& grasp_candidates,
const GraspCandidateConfig grasp_candidate_config)
{
if (grasp_data->end_effector_type_ == FINGER)
return generateFingerGrasps(cuboid_pose, depth, width, height, grasp_data, grasp_candidates,
grasp_candidate_config);
if (grasp_data->end_effector_type_ == SUCTION)
return generateSuctionGrasps(cuboid_pose, depth, width, height, grasp_data, grasp_candidates,
grasp_candidate_config);
else
return false;
}
bool GraspGenerator::generateSuctionGrasps(const Eigen::Affine3d& cuboid_top_pose, double depth, double width,
double height, const moveit_grasps::GraspDataPtr grasp_data,
std::vector<GraspCandidatePtr>& grasp_candidates,
const GraspCandidateConfig grasp_candidate_config)
{
grasp_candidates.clear();
std::vector<Eigen::Affine3d> grasp_poses;
////////////////
// Re-orient the cuboid center top grasp so to be as close as possible to the ideal grasp
////////////////
// Move the ideal grasp pose to the center of the top of the box
Eigen::Affine3d ideal_grasp = getIdealGraspPose();
Eigen::Affine3d cuboid_center_top_grasp(cuboid_top_pose);
// Move the ideal top grasp to the correct location
ideal_grasp.translation() = cuboid_center_top_grasp.translation();
setIdealGraspPose(ideal_grasp);
Eigen::Vector3d object_size(depth, width, height);
if (debug_top_grasps_)
{
visual_tools_->publishAxis(cuboid_top_pose, rviz_visual_tools::SMALL, "cuboid_top_pose");
visual_tools_->publishAxis(ideal_grasp, rviz_visual_tools::SMALL, "ideal_grasp");
visual_tools_->trigger();
}
ROS_DEBUG_STREAM_NAMED("grasp_generator", "cuboid_direction:\n" << cuboid_center_top_grasp.rotation() << "\n");
ROS_DEBUG_STREAM_NAMED("grasp_generator", "ideal_grasp:\n" << ideal_grasp.rotation() << "\n");
// If the ideal top grasp Z axis is in the opposite direction of the top pose then we rotate around X to flip the
// orientation vector
double dot_prodZ = (cuboid_center_top_grasp.rotation() * Eigen::Vector3d::UnitZ())
.dot(ideal_grasp.rotation() * Eigen::Vector3d::UnitZ());
if (dot_prodZ < 0)
{