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Package Summary
| Tags | No category tags. |
| Version | 4.3.0 |
| 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 | 2024-01-16 |
| Dev Status | DEVELOPED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| 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
Install grasp_data_generator
cd ../grasp_data_generator
pip install --user -e .
Train initial model (optional)
Please read grasp_data_generator for more information.
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 = {34},
number = {18},
pages = {1171-1189},
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
Changelog for package dualarm_grasping
4.3.0 (2021-07-14)
- Merge pull request #2751 from knorth55/fix-version fix version in demo packages
- fix version in demo packages change to 4.2.1 for all other jsk_apc packages
- Merge branch 'master' into add-sleep
- add grasp_data_generator
- update selective_dualarm_grasping readme
- Merge pull request #2720 from knorth55/add-knorth55-mthesis
- stop downloading during catkin build
- update README
- refactor CMakeLists.txt
- update readme
- fix linter
- add selective_dualarm_grasping
- Contributors: Shingo Kitagawa
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
Dependant Packages
No known dependants.
Launch files
- sample/sample_dualarm_grasp_segmentation.launch
-
- filename [default: $(find dualarm_grasping)/test_data/00.jpg]
- use_mask [default: true]
- launch/utils/record_occlusion_dataset.launch
- launch/setup/setup_occluded_picking.launch
-
- target_grasp [default: false]
- pr2 [default: false]
- json_dir [default: $(find dualarm_grasping)/data/json]
- load_driver [default: true]
- launch/setup/setup_occluded_test.launch
-
- item [default: avery_binder]
- before_sampling [default: false]
- after_sampling [default: false]
- pr2 [default: false]
- target_grasp [default: false]
- load_driver [default: true]
- launch/setup/setup_sampling.launch
-
- first_sampling [default: false]
- second_sampling [default: false]
- item [default: avery_binder]
- pr2 [default: false]
- load_driver [default: true]
- launch/setup/setup_picking.launch
-
- pr2 [default: false]
- json_dir [default: $(find dualarm_grasping)/data/json]
- load_driver [default: true]
- launch/setup/setup_occluded_sampling.launch
-
- first_sampling [default: false]
- second_sampling [default: false]
- item [default: avery_binder]
- pr2 [default: false]
- target_grasp [default: false]
- load_driver [default: true]
- launch/setup/baxter.launch
-
- debug [default: false]
- moveit [default: true]
- scale [default: false]
- v7 [default: false]
- launch/setup/setup_test.launch
-
- item [default: avery_binder]
- before_sampling [default: false]
- after_sampling [default: false]
- pr2 [default: false]
- load_driver [default: true]
- launch/setup/include/baxter/recognition.launch
-
- LABEL_YAML
- MODEL_FILE
- SAMPLING
- DATA_COLLECTION
- CONFIG_YAML [default: ]
- TARGET_YAML [default: ]
- TARGET_GRASP [default: false]
- OCCLUDED [default: false]
- launch/setup/include/common/dualarm_grasp_segmentation.launch
-
- INPUT_IMAGE
- INPUT_CLOUD
- LABEL_YAML
- MODEL_FILE
- INPUT_MASK [default: ]
- SAMPLING
- DATA_COLLECTION
- FIXED_FRAME
- CAMERA_NAMESPACE
- GPU [default: 0]
- USE_PCA [default: false]
- USE_MASK [default: true]
- NODELET_MANAGER [default: dualarm_grasping_manager]
- launch/setup/include/common/recognition.launch
-
- LABEL_YAML
- MODEL_FILE
- SAMPLING
- DATA_COLLECTION
- CONFIG_YAML
- TARGET_YAML
- TARGET_GRASP
- OCCLUDED
- MANAGER
- INPUT_CLOUD
- INPUT_IMAGE
- FIXED_FRAME
- CAMERA_NAMESPACE
- launch/setup/include/common/dualarm_occluded_grasp_instance_segmentation.launch
-
- INPUT_IMAGE
- INPUT_CLOUD
- LABEL_YAML
- TARGET_YAML
- MODEL_FILE
- CONFIG_YAML
- INPUT_MASK [default: ]
- SAMPLING
- DATA_COLLECTION
- FIXED_FRAME
- CAMERA_NAMESPACE
- GPU [default: 0]
- USE_PCA [default: false]
- USE_MASK [default: true]
- TARGET_GRASP [default: false]
- NODELET_MANAGER [default: dualarm_grasping_manager]
- launch/setup/include/pr2/kinect_head_remote.launch
- launch/setup/include/pr2/recognition.launch
-
- LABEL_YAML
- MODEL_FILE
- SAMPLING
- DATA_COLLECTION
- CONFIG_YAML [default: ]
- TARGET_YAML [default: ]
- TARGET_GRASP [default: false]
- OCCLUDED [default: false]
Messages
Services
Plugins
No plugins found.
Recent questions tagged dualarm_grasping at Robotics Stack Exchange
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