[cob_pick_place_action] revive grasp_generation and pick_place_action

[fmessmer]

@ipa-rmb @ipa-rmb-pz @ipa-bfb @ipa-aep

FYI
I created this issue for discussion about current efforts on getting the cob_grasp_generation/cob_pick_place_action-pipeline to work with cob4

related issues are:
#77 #80 (#70 #76 #79)

@fmessmer FYI

[fmessmer]

As discussed, first steps could be:

• to split the action servers in cob_grasp_generation so that the query_grasp action can be used without OpenRAVE being installed ✅ done in separate openrave independent part query_grasp #126
• extend the cob_moveit_config to include planning groups for the gripper again as a prerequisite to use MoveIt!'s pick pipeline ✅ grippers are already included in the model...should be fine...no guarantee though

Then things could get started to be investigated further:

• remove cob3-specific stuff from both packages (cob3 is not supported any more...but keep sdh support) ✅
• manually generate grasp tables (csv) for sdhx ✅ README added in document manual generation of grasp table #127
• verify transformations in convertGraspKIT and fillGraspOR
• testing, investigate performance/success rate and optimization...moveit_demo.launch, simulation, hardware
• connect to real object_perception (see R3COP-project)
• use sensor data in environment model

[fmessmer]

see the additional show_grasps_rviz ActionServer in #126

[bbrito]

As discussed with @ipa-aep we should start soon taking care of this issue as soon as we get a student which will focus on this topic.

[fmessmer]

talk to @ipa-rmb...he has a student about to tackle it!

[fmessmer]

as discussed, there have been some significant improvements towards using cob_grasp_generation and cob_pick_place_action packages with cob4 in #126 and #127, i.e. the grasp generation has been made OpenRAVE independent and manual generation has been documented, visualization tools based on rviz have been added. grasp generation and grasp planning can now be investigated independently (with the grasp table csv being the connecting link)

now these packages are in a state where MoveIt! is able to start planning grasping sequences for cob4 with sdhx gripper...

still we did not succeed in finding a successfull plan yet, but this can now clearly be described as an issue of:

• grasp query (i.e. wrong transformations in the PickGoal)
• moveit_config/planner settings
• other issues within MoveIt!

@ipa-bfb @ipa-aep maybe we can have a look at this together in some kind of a hackathon?

[bbrito]

We are going to start taking care of this.. and start discussing how to merge this with ipa_order_picking