lily983 / panda_moveit_control Goto Github PK

Current node panda_grasp_handle_server.cpp does everything for every task. It includes:

• Interacts with the planning scene(add/remove collision mesh)
• Reads the Alvar tag on the handle, converts to pre-grasp/grasp/post-grasp key poses
• Control the Franka arm

The node requires changes for every task and is hard to manage. I want to break it into modules and let each module handle different things. Modules include:

• Planning scene operation [class]: add/remove collision scene mesh, add/remove collision object mesh, display trajectory on moveit
• Robot arm [class]: planning to joint/pose target from current/given start joint configuration
• Task node: sequential actions for each task

• Add new features to planning: allow setting robot start state before planning. This feature can be used in pre-grasp planning, especially in pre-grasp planning task in stomp project.

          Use clang-format to organize the code

Originally posted by @ruansp in #11 (comment)

• Drawer door open/close
• Door open/close
• Pouring
• Transporting

• Create a PandaArm class
• Create a header file for gripper control and a header file for planning scene manipulation
• Create nodes for each task execution: pouring, opening(drawer/door), scooping, transporting

• some are "Callbackxxx" while others are "CallBackxxx". Only keep "Callbackxxx" format.

          Try to make input as `const` reference all the times when possible:

void AddCollisionObj(const std::string& obj_name, const std::string& mesh_path, std::string header_frame = "panda_link0");

Originally posted by @ruansp in #11 (comment)

• Define yaml file for each pouring object (cup, spoon): bounding box parameters, tf from pouring pose to panda_link8 pose. (pouring pose is defined in the concave region of object, may not align with the body frame of object)

Please add a readme if have time.

• Re-format file using new clang-format