[cob_pick_place_action] Known Issues with cob_pick_place_action package

[fmessmer]

@ipa-bfb @fmessmer FYI

This is a summary of the current state and known issues of the cob_pick_place_action package

[fmessmer]

Usage:

cob3 with sdh

• roslaunch cob_moveit_config demo.launch robot:=cob3-6 config:=true
  (or later simulation+move_group.launch or hardware+move_group.launch)
• roslaunch cob_pick_place_action cob_pick_place.launch manipulator_group:=arm
  (for starting grasp-database and pick-action)
• rosrun cob_pick_place_action cob_pick_action_client.py
  (for starting the pick scenario)

cob4 with sdhx

• roslaunch cob_moveit_bringup demo.launch robot:=cob4-8 config:=true
  (or later simulation+move_group.launch or hardware+move_group.launch)
• roslaunch cob_pick_place_action cob_pick_place.launch manipulator_group:=arm_left
  (for starting grasp-database and pick-action)
• rosrun cob_pick_place_action cob_pick_action_client.py
  (for starting the pick scenario)

Issue 1
There are still quite a few things hard-coded, e.g. link and joint names, both within cob_pick_place_action and cob_grasp_generation package! I tried to resolve it a bit in PR #78, but it's not yet done: e.g. here

Issue 2
While the above can be fixed by switching/specifying the correct names, this issue is more of a problem. I think since the example has been implemented, we have been modifying the sdh gripper model and inserting collision tags for e.g. sdh_grasp_link and sdh_tip_link (see the little red boxes below). When I adjust the code according to issue 1, MoveIt starts planning but it complains about collision contact between the aforementioned links and the object (I doubt this has been like that before)...

[fmessmer]

Issue 1 has been resolved in #126

Now cob_pick_place_action can be used with cob4 using the above mentioned terminal commands.
Still, it requires more in-depth debugging of MoveIt!'s pick capability and/or transforms in cob_pick_place_action, but this is now all independent from cob_grasp_generation