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Use grasp detector in grab.py #1335

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Use grasp detector in grab.py #1335

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9853d06
Use grasp detector
PetervDooren Oct 31, 2023
25fcfe3
fix typos
PetervDooren Oct 31, 2023
d7195c3
extend log level of example
PetervDooren Oct 31, 2023
9259630
tune graspdetector
PetervDooren Oct 31, 2023
ec50475
Revert "extend log level of example"
PetervDooren Oct 31, 2023
d0226fc
robot does not automatically try again.
PetervDooren Oct 31, 2023
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2 changes: 1 addition & 1 deletion robot_smach_states/src/robot_smach_states/manipulation/active_grasp_detector.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,7 @@ class ActiveGraspDetector(smach.State):
REQUIRED_ARM_PROPERTIES = {"required_gripper_types": [GripperTypes.GRASPING], }

def __init__(self, robot: Robot, arm_designator: ArmDesignator, threshold_difference: float = 0.075,
minimum_position: float = -0.82, max_torque: float = 0.15) -> None:
minimum_position: float = -0.75, max_torque: float = 0.1) -> None:
"""
State for detecting whether the robot is holding something using the gripper position.

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16 changes: 15 additions & 1 deletion robot_smach_states/src/robot_smach_states/manipulation/grab.py
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Original file line number Diff line number Diff line change
Expand Up @@ -14,7 +14,10 @@
from ..utility import check_arm_requirements, ResolveArm
from ..util.designators import check_type
from ..navigation.navigate_to_grasp import NavigateToGrasp

from ..manipulation.active_grasp_detector import ActiveGraspDetector
from ..manipulation.grasp_point_determination import GraspPointDeterminant
from ..human_interaction.human_interaction import Say
from ..util.designators.arm import ArmDesignator
from ..util.designators.core import Designator

Expand Down Expand Up @@ -339,9 +342,20 @@ def __init__(self, robot: Robot, item: Designator, arm: ArmDesignator, room: Des
'failed': 'RESET_FAILURE'})

smach.StateMachine.add('GRAB', PickUp(robot, arm, item),
transitions={'succeeded': 'done',
transitions={'succeeded': 'CHECK_PICK_SUCCESSFUL',
'failed': 'RESET_FAILURE'})

smach.StateMachine.add("CHECK_PICK_SUCCESSFUL",
ActiveGraspDetector(robot, arm),
transitions={'true': "done",
'false': "SAY_MISSED_GRASP",
'failed': "RESET_FAILURE",
'cannot_determine': "SAY_MISSED_GRASP"}
)

smach.StateMachine.add("SAY_MISSED_GRASP", Say(robot, "Oops, it seems I missed it."),
transitions={"spoken": "RESET_FAILURE"})

smach.StateMachine.add("RESET_FAILURE", ResetOnFailure(robot, arm),
transitions={'done': 'failed'})

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