PickUp using Xtion

Responsible partner: CERTH / NEO

Description

PickUp skill is used for picking up of clothes from table (from the top by grasping of detected clothes peak).

Preconditions

  • Position of table, from which is clothes picked up (especially its height), has to be precisely calibrated because of potencially very small distance of gripper from this table.
  • The dominant surface from the xtion's view should be the tables surface and not for example the floor.

Inputs

  1. arm (string)
    - specify used arm (and appropriate xtion) { r1, r2 }
  2. table_desk (string)
    - the name of the table desk where garment is located { t1, t2, t3 }
  3. holding_control_type (bool)
    - type of control whether garment is being held by gripper after picking up { true, false } - default is false
    • false - CERTH vision control (using depth difference)
    • true - CVUT gripper control (using tactile sensor on the gripper)

Outputs

  1. success (bool)
    - action completed successfully { true, false }
  2. error_message (string)
    - description of error, if success = false
    { MOVE_XTION_ERROR, FIND_GARMENT_ERROR, FIND_GRASP_ERROR, DO_GRASP_ERROR, HOLD_ERROR }

Failure conditions, recovery from failure

  • Xtion not connected
    - start / restart Xtion driver and run action again
  • Image from Xtion not captured or grabbed an old image from the Xtion's buffer.
    - start / restart Xtion driver and run action again
  • PickUp confirmation (using Xtion) fails, stops when the garment is not grasped or drops the cloth and starts pick up again.
    - pick up confirmation variable should be adjusted according the environment.

Performance / robustness indicators

  • Robot will keep on trying with different grasping point each time till the pick up action is complete. A timeout could stop the action if takes too long.
  • Time consumption: ~30 seconds