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Manipulation pipeline: Point cloud based filtering

Fabian Reister requested to merge feature/manipulation-pipeline-point-cloud-based-filtering into main

This PR provides:

  • Filtering steps for prepose and execution pose based on point clouds / octree
  • Visualization of prepose and execution poses in ArViz
  • Visualization of octree in ArViz

Notes

Filtering of preposes

Screenshot_20230429_190608 Screenshot_20230429_192341

-> seems to work nicely

Filtering of exeuction poses

Screenshot_20230429_205224

For purple object: Screenshot_20230429_203509

Grasps from below Screenshot_20230429_203319

  • Execution poses hey are generated quite low and end up being always in collion with the parcel itself (collision checking with parcel can be disabled by property). Or: remove bottom part of parcel only.
  • It is promising to check the collision with the other objects in the box. Yet, too many grasps (in the example actually all) were rejected. If the objects are a bit more isolated, this still might work.
  • Instead of rejecting these grasps, we can easily check the collision along the grasp trajectory (pre pose -> execution pose) and check how close we can get to the execution pose without being in collision. The distance computation is approx 0.5ms. Collision checking is likely even faster.

@kartmann @meixner fyi

Edited by Fabian Reister

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