grasplan

Documentation can be found under: https://grasplan-documentation.readthedocs.io/en/latest/

Open-set grasp fallback

The pick action uses the configured Grasplan planner for objects present in that planner's object catalog. If the object class is not in the catalog, the goal is forwarded to an AnyGrasp server using the same PickObjectAction interface. A failed Grasplan attempt for a known object is final and does not trigger the fallback.

For the handcoded planner, known classes are the keys below the handcoded_grasp_planner_transforms parameter. Numeric instance suffixes are ignored, so (for example) relay_3 is checked as class relay. The fallback forwards the original object text unchanged.

The fallback is configured by these private parameters on pick_object_node:

• anygrasp_action_name (default /mobipick/grasp_object)
• anygrasp_generate_action_name (default /mobipick/generate_grasps)
• anygrasp_handles_execution (default false): when false, AnyGrasp only generates candidates and Grasplan executes them through MoveIt; set it to true to retain AnyGrasp-owned execution
• anygrasp_server_timeout (default 2.0 seconds)
• anygrasp_result_timeout (default 300.0 seconds; 0 waits indefinitely)
• anygrasp_use_gripper_width (default false): when disabled, unknown objects use the fully closed gripper_close posture. When enabled, each AnyGrasp candidate's predicted jaw width is used instead.
• anygrasp_gripper_width_offset (default 0.0 metres): added to predicted widths when width control is enabled; use a small negative value to close farther. The result is clamped between gripper_close and gripper_open.
• anygrasp_gripper_max_effort (default -1.0): non-negative values override the grasp posture's effort limit for unknown objects. Negative values retain gripper_joint_efforts. Units and torque/force interpretation depend on the configured gripper controller.

With the Grasplan pick server and AnyGrasp server running, exercise the fallback with an object description that is absent from the active planner's catalog:

rosrun grasplan open_set_pick_obj_test_action_client "red mug"

pre-commit Formatting Checks

This repo has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use pip:

pip3 install --user pre-commit

To run over all the files in the repo manually:

pre-commit run -a

To run pre-commit automatically before committing in the local repo, install the git hooks:

pre-commit install