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Package Summary

Tags No category tags.
Version 0.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/start-jsk/jsk_apc.git
VCS Type git
VCS Version master
Last Updated 2020-09-09
Dev Status DEVELOPED
CI status No Continuous Integration
Released UNRELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The dualarm_grasping package

Additional Links

No additional links.

Maintainers

  • Shingo Kitagawa

Authors

  • Shingo Kitagawa

Advanced Robotics 2020: Selective dual-arm occluded grasping

Download models

rosrun dualarm_grasping install_models.py

Sampling

Setup

roslaunch dualarm_grasping baxter.launch
roslaunch dualarm_grasping setup_occluded_sampling.launch

Pass args for first_sampling:=true or second_sampling:=true

Main Program

roseus euslisp/sampling-grasp.l

Execution (Cluster Grasping)

Setup

roslaunch dualarm_grasping baxter.launch
roslaunch dualarm_grasping setup_occluded_picking.launch

Main Program

roseus euslisp/dualarm-grasp.l

Execution (Target Grasping)

Setup

roslaunch dualarm_grasping baxter.launch
roslaunch dualarm_grasping setup_occluded_picking.launch target_grasp:=true

Main Program

roseus euslisp/dualarm-grasp.l

Evaluation (Target Grasping)

Setup

roslaunch dualarm_grasping baxter.launch
roslaunch dualarm_grasping setup_occluded_test.launch target_grasp:=true

Main Program

roseus euslisp/test-grasp.l

Citation

@article{doi:10.1080/01691864.2020.1783352,
  author = {Shingo Kitagawa and Kentaro Wada and Shun Hasegawa and Kei Okada and Masayuki Inaba},
  title = {Few-experiential learning system of robotic picking task with selective dual-arm grasping},
  journal = {Advanced Robotics},
  volume = {0},
  number = {0},
  pages = {1-19},
  year  = {2020},
  publisher = {Taylor & Francis},
  doi = {10.1080/01691864.2020.1783352},
  URL = {https://doi.org/10.1080/01691864.2020.1783352},
  eprint = {https://doi.org/10.1080/01691864.2020.1783352}
}

IROS2018: Selective dual-arm grasping

Download models

rosrun dualarm_grasping install_models.py

Sampling

Setup

roslaunch dualarm_grasping baxter.launch
roslaunch dualarm_grasping setup_sampling.launch

Pass args for first_sampling:=true or second_sampling:=true

Main Program

roseus euslisp/sampling-grasp.l

Execution

Setup

roslaunch dualarm_grasping baxter.launch
roslaunch dualarm_grasping setup_picking.launch

Main Program

roseus euslisp/dualarm-grasp.l

Evaluation

Setup

roslaunch dualarm_grasping baxter.launch
roslaunch dualarm_grasping setup_test.launch

Main Program

roseus euslisp/test-grasp.l

Citation

@inproceedings{SelectiveDualarmGrasping:IROS2018,
  author={Shingo Kitagawa and Kentaro Wada and Shun Hasegawa and Kei Okada and Masayuki Inaba},
  booktitle={Proceedings of The 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems},
  title={Multi-stage Learning of Selective Dual-arm Grasping Based on Obtaining and Pruning Grasping Points Through the Robot Experience in the Real World},
  year={2018},
  month={october},
  pages={7123-7130},
}

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

Plugins

No plugins found.

Recent questions tagged dualarm_grasping at answers.ros.org

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