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Use handover detector to detect failed handover #1327

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merged 6 commits into from
Aug 8, 2023
Merged

Use handover detector to detect failed handover #1327

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9f95560
add handoverdetector
PetervDooren Jul 25, 2023
0068a7b
add fallback states
PetervDooren Jul 25, 2023
646ef05
only list item as picked when this is confirmed
PetervDooren Jul 25, 2023
384af44
Merge branch 'master' into serve_breakfast/handoverdetector
PetervDooren Jul 25, 2023
f46cd61
Merge branch 'master' into serve_breakfast/handoverdetector
PetervDooren Aug 8, 2023
c2a5b2f
add grippertypes import
PetervDooren Aug 8, 2023
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26 changes: 21 additions & 5 deletions challenge_serve_breakfast/src/challenge_serve_breakfast/navigate_to_and_pick_item.py
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Original file line number Diff line number Diff line change
Expand Up @@ -12,8 +12,10 @@
from robot_skills import get_robot
# ROS
from pykdl_ros import VectorStamped
from robot_smach_states.human_interaction import Say
from robot_smach_states.manipulation.active_grasp_detector import ActiveGraspDetector
from robot_smach_states.navigation import NavigateToSymbolic
from robot_smach_states.util.designators import EdEntityDesignator
from robot_smach_states.util.designators import EdEntityDesignator, ArmDesignator
from smach import StateMachine, cb_interface, CBState

item_img_dict = {
Expand All @@ -30,6 +32,7 @@ def __init__(self, robot):
# noinspection PyProtectedMember
arm = robot.get_arm()._arm
picked_items = []
armdes = ArmDesignator(robot, {"required_gripper_types": [GripperTypes.GRASPING]})

def send_joint_goal(position_array, wait_for_motion_done=True):
# noinspection PyProtectedMember
Expand Down Expand Up @@ -76,8 +79,6 @@ def _ask_user(user_data):

item_name = leftover_items[0]

picked_items.append(item_name)

robot.speech.speak("Please put the {} in my gripper, like this".format(item_name), block=False)
show_image("challenge_serve_breakfast", item_img_dict[item_name])

Expand All @@ -96,12 +97,27 @@ def _carrying_pose(user_data):
robot.speech.speak("Thanks for that!", block=False)
return "done"

@cb_interface(outcomes=["done"], input_keys=["item_picked"])
def _remember_item(user_data):
picked_items.append(user_data["item_picked"])
return "done"

with self:
self.add("ROTATE", CBState(_rotate), transitions={"done": "HANDOVER_POSE"})
self.add("HANDOVER_POSE", CBState(_handover_pose), transitions={"done": "ASK_USER"})
self.add("ASK_USER", CBState(_ask_user),
transitions={"succeeded": "CARRYING_POSE", "failed": "failed"})

transitions={"succeeded": "CHECK_PICK_SUCCESSFUL", "failed": "failed"})
self.add("CHECK_PICK_SUCCESSFUL",
ActiveGraspDetector(robot, armdes),
transitions={'true': "ADD_ITEM_TO_LIST",
'false': "SAY_SOMETHING_WENT_WRONG",
'failed': "failed",
'cannot_determine': "SAY_SOMETHING_WENT_WRONG"}
)
self.add("SAY_SOMETHING_WENT_WRONG", Say(robot, "Oops, it seems I missed it. Lets try again"),
transitions={"spoken": "ASK_USER2"})
self.add("ASK_USER2", CBState(_ask_user), transitions={"succeeded": "ADD_ITEM_TO_LIST", "failed": "failed"})
self.add("ADD_ITEM_TO_LIST", CBState(_remember_item), transitions={"done": "CARRYING_POSE"})
self.add("CARRYING_POSE", CBState(_carrying_pose), transitions={"done": "succeeded"})


Expand Down