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Add visual geometry to pick-place tutorial #663

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Add visual geometry to pick-place tutorial #663

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b743936
Add visual geometry to pick-place tutorial
felixvd Aug 22, 2021
47c1d94
Add scaling factors for visual mesh
simonschmeisser Nov 27, 2021
5c0c0ff
Use textured table for extra bling
simonschmeisser Nov 27, 2021
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141 changes: 141 additions & 0 deletions doc/pick_place/meshes/table.dae
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103 changes: 63 additions & 40 deletions doc/pick_place/src/pick_place_tutorial.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -92,16 +92,16 @@ void pick(moveit::planning_interface::MoveGroupInterface& move_group)
// Setting grasp pose
// ++++++++++++++++++++++
// This is the pose of panda_link8. |br|
// Make sure that when you set the grasp_pose, you are setting it to be the pose of the last link in
// your manipulator which in this case would be `"panda_link8"` You will have to compensate for the
// transform from `"panda_link8"` to the palm of the end effector.
// Make sure that when you set the grasp_pose, you are setting it to be the pose of the end effector,
// in this case `"panda_link8"`. You will have to compensate for the
// transform from `"panda_link8"` to the palm of the end effector, or set your end effector link
grasps[0].grasp_pose.header.frame_id = "panda_link0";
tf2::Quaternion orientation;
orientation.setRPY(-tau / 4, -tau / 8, -tau / 4);
grasps[0].grasp_pose.pose.orientation = tf2::toMsg(orientation);
grasps[0].grasp_pose.pose.position.x = 0.415;
grasps[0].grasp_pose.pose.position.y = 0;
grasps[0].grasp_pose.pose.position.z = 0.5;
grasps[0].grasp_pose.pose.position.z = 0.4 + 0.08; // Table height + grasp height

// Setting pre-grasp approach
// ++++++++++++++++++++++++++
Expand Down Expand Up @@ -136,7 +136,7 @@ void pick(moveit::planning_interface::MoveGroupInterface& move_group)
// Set support surface as table1.
move_group.setSupportSurfaceName("table1");
// Call pick to pick up the object using the grasps given
move_group.pick("object", grasps);
move_group.pick("bottle", grasps);
// END_SUB_TUTORIAL
}

Expand All @@ -158,10 +158,11 @@ void place(moveit::planning_interface::MoveGroupInterface& group)
orientation.setRPY(0, 0, tau / 4); // A quarter turn about the z-axis
place_location[0].place_pose.pose.orientation = tf2::toMsg(orientation);

/* For place location, we set the value to the exact location of the center of the object. */
/* For the place location, we set the value to the target location of the center of the object. */
place_location[0].place_pose.pose.position.x = 0;
place_location[0].place_pose.pose.position.y = 0.5;
place_location[0].place_pose.pose.position.z = 0.5;
place_location[0].place_pose.pose.position.z = 0.49 + 0.08 + 0.002; // Cabinet height + grasp height + buffer

// Setting pre-place approach
// ++++++++++++++++++++++++++
Expand Down Expand Up @@ -189,7 +190,7 @@ void place(moveit::planning_interface::MoveGroupInterface& group)
// Set support surface as table2.
group.setSupportSurfaceName("table2");
// Call place to place the object using the place locations given.
group.place("object", place_location);
group.place("bottle", place_location);
// END_SUB_TUTORIAL
}

Expand All @@ -203,70 +204,87 @@ void addCollisionObjects(moveit::planning_interface::PlanningSceneInterface& pla
std::vector<moveit_msgs::CollisionObject> collision_objects;
collision_objects.resize(3);

// Add the first table where the cube will originally be kept.
// Add the table where the bottle will originally be.
collision_objects[0].id = "table1";
collision_objects[0].header.frame_id = "panda_link0";

/* Define the primitive and its dimensions. */
collision_objects[0].primitives.resize(1);
collision_objects[0].primitives[0].type = collision_objects[0].primitives[0].BOX;
collision_objects[0].primitives[0].dimensions.resize(3);
collision_objects[0].primitives[0].dimensions[0] = 0.2;
collision_objects[0].primitives[0].dimensions[1] = 0.4;
collision_objects[0].primitives[0].dimensions[2] = 0.4;
collision_objects[0].primitives[0].type = collision_objects[0].primitives[0].CYLINDER;
collision_objects[0].primitives[0].dimensions.resize(2);
collision_objects[0].primitives[0].dimensions[0] = 0.4;
collision_objects[0].primitives[0].dimensions[1] = 0.23;

/* Define the pose of the table. */
collision_objects[0].primitive_poses.resize(1);
collision_objects[0].primitive_poses[0].position.x = 0.5;
collision_objects[0].primitive_poses[0].position.y = 0;
collision_objects[0].primitive_poses[0].position.z = 0.2;
collision_objects[0].primitive_poses[0].orientation.w = 1.0;
collision_objects[0].pose.position.x = 0.5;
collision_objects[0].pose.position.y = 0;
collision_objects[0].pose.position.z = 0.2;
collision_objects[0].pose.orientation.w = 1.0;

/* Define the visual geometry of the table (for display in Rviz only). */
tf2::Quaternion orientation;
collision_objects[0].visual_geometry_mesh_url = "package://moveit_tutorials/doc/pick_place/meshes/table.dae";
collision_objects[0].visual_geometry_mesh_scaling_factor = 0.1;
orientation.setRPY(0.0 / 360.0 * tau, 0.0 / 360.0 * tau, 0.0 / 360.0 * tau);
collision_objects[0].visual_geometry_pose.orientation = tf2::toMsg(orientation);
collision_objects[0].visual_geometry_pose.position.z = -collision_objects[0].pose.position.z;
// END_SUB_TUTORIAL

collision_objects[0].operation = collision_objects[0].ADD;

// BEGIN_SUB_TUTORIAL table2
// Add the second table where we will be placing the cube.
// Add the cabinet on top of which we will place the bottle.
collision_objects[1].id = "table2";
collision_objects[1].header.frame_id = "panda_link0";

/* Define the primitive and its dimensions. */
collision_objects[1].primitives.resize(1);
collision_objects[1].primitives[0].type = collision_objects[1].primitives[0].BOX;
collision_objects[1].primitives[0].dimensions.resize(3);
collision_objects[1].primitives[0].dimensions[0] = 0.4;
collision_objects[1].primitives[0].dimensions[1] = 0.2;
collision_objects[1].primitives[0].dimensions[2] = 0.4;

/* Define the pose of the table. */
collision_objects[1].primitive_poses.resize(1);
collision_objects[1].primitive_poses[0].position.x = 0;
collision_objects[1].primitive_poses[0].position.y = 0.5;
collision_objects[1].primitive_poses[0].position.z = 0.2;
collision_objects[1].primitive_poses[0].orientation.w = 1.0;
collision_objects[1].primitives[0].dimensions[0] = 0.53;
collision_objects[1].primitives[0].dimensions[1] = 0.24;
collision_objects[1].primitives[0].dimensions[2] = 0.46;

/* Define the pose of the cabinet. */
collision_objects[1].pose.position.x = 0;
collision_objects[1].pose.position.y = 0.5;
collision_objects[1].pose.position.z = 0.23;

/* Define the visual geometry of the cabinet (for display in Rviz). */
collision_objects[1].visual_geometry_mesh_url = "package://moveit_tutorials/doc/pick_place/meshes/cabinet.stl";
collision_objects[1].visual_geometry_mesh_scaling_factor = 0.001;
orientation.setRPY(0.0 / 360.0 * tau, 0.0 / 360.0 * tau, 0.0 / 360.0 * tau);
collision_objects[1].visual_geometry_pose.orientation = tf2::toMsg(orientation);
collision_objects[1].visual_geometry_pose.position.z = -collision_objects[1].pose.position.z;
// END_SUB_TUTORIAL

collision_objects[1].operation = collision_objects[1].ADD;

// BEGIN_SUB_TUTORIAL object
// Define the object that we will be manipulating
// Define the bottle object that we will manipulate
collision_objects[2].header.frame_id = "panda_link0";
collision_objects[2].id = "object";
collision_objects[2].id = "bottle";

/* Define the primitive and its dimensions. */
collision_objects[2].primitives.resize(1);
collision_objects[2].primitives[0].type = collision_objects[1].primitives[0].BOX;
collision_objects[2].primitives[0].type = collision_objects[1].primitives[0].CYLINDER;
collision_objects[2].primitives[0].dimensions.resize(3);
collision_objects[2].primitives[0].dimensions[0] = 0.02;
collision_objects[2].primitives[0].dimensions[1] = 0.02;
collision_objects[2].primitives[0].dimensions[2] = 0.2;
collision_objects[2].primitives[0].dimensions[0] = 0.20;
collision_objects[2].primitives[0].dimensions[1] = 0.035;
collision_objects[2].primitive_poses.resize(1);
collision_objects[2].primitive_poses[0].position.z = 0.1;

/* Define the pose of the object. */
collision_objects[2].primitive_poses.resize(1);
collision_objects[2].primitive_poses[0].position.x = 0.5;
collision_objects[2].primitive_poses[0].position.y = 0;
collision_objects[2].primitive_poses[0].position.z = 0.5;
collision_objects[2].primitive_poses[0].orientation.w = 1.0;
collision_objects[2].pose.position.x = 0.5;
collision_objects[2].pose.position.y = 0;
collision_objects[2].pose.position.z = collision_objects[0].primitives[0].dimensions[0] + 0.001;
collision_objects[2].pose.orientation.w = 1.0;

/* Define the visual geometry of the bottle (for display in Rviz). */
collision_objects[2].visual_geometry_mesh_url = "package://moveit_tutorials/doc/pick_place/meshes/beer_bottle.stl";
collision_objects[2].visual_geometry_mesh_scaling_factor = 0.001;
orientation.setRPY(0.0 / 360.0 * tau, 0.0 / 360.0 * tau, 0.0 / 360.0 * tau);
collision_objects[2].visual_geometry_pose.orientation = tf2::toMsg(orientation);
// END_SUB_TUTORIAL

collision_objects[2].operation = collision_objects[2].ADD;
Expand Down Expand Up @@ -322,3 +340,8 @@ int main(int argc, char** argv)
// ^^^^^^^^^^^^^^
// CALL_SUB_TUTORIAL place
// END_TUTORIAL

// Attribution:
// "Table" (https://skfb.ly/6BYHM) by yryabchenko is licensed under Creative Commons Attribution
// (http://creativecommons.org/licenses/by/4.0/). "Cabinet With Glass Pattern Windows" (https://skfb.ly/6WZtK) by Frank
// Heuver is licensed under Creative Commons Attribution-NonCommercial (http://creativecommons.org/licenses/by-nc/4.0/).