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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 | 2020-10-18 |
| 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
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
No CHANGELOG found.
Wiki Tutorials
See ROS Wiki Tutorials for more details.
Source Tutorials
Not currently indexed.
Package Dependencies
System Dependencies
Dependant Packages
No known dependants.
Launch files
- 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/include/pr2/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/pr2/kinect_head_remote.launch
- 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_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/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/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/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_test.launch
-
- item [default: avery_binder]
- before_sampling [default: false]
- after_sampling [default: false]
- 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/baxter.launch
-
- debug [default: false]
- moveit [default: true]
- scale [default: false]
- v7 [default: false]
- 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]
- sample/sample_dualarm_grasp_segmentation.launch
-
- filename [default: $(find dualarm_grasping)/test_data/00.jpg]
- use_mask [default: true]
Messages
Services
Plugins
No plugins found.
Recent questions tagged dualarm_grasping at answers.ros.org
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