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jsk_arc2017_baxter package from jsk_apc repo

baxter_paper_filing baxtergv6_apc2016 grasp_fusion grasp_prediction_arc2017 instance_occlsegm synthetic2d dualarm_grasping selective_dualarm_stowing sphand_driver sphand_driver_msgs vl53l0x_mraa_ros jsk_2015_05_baxter_apc jsk_2016_01_baxter_apc jsk_apc jsk_apc2015_common jsk_apc2016_common jsk_arc2017_baxter jsk_arc2017_common

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Package Summary

Tags No category tags.
Version 4.3.0
License BSD
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

Baxter-specific programs for Amazon Robotics Challenge 2017 at JSK Lab.

Additional Links

Maintainers

  • Kentaro Wada

Authors

  • Kentaro Wada
  • Shingo Kitagawa
README
No README found. See repository README.
CHANGELOG

Changelog for package jsk_arc2017_baxter

4.3.0 (2021-07-14)

  • Merge branch 'master' into fix-version
  • Merge pull request #2722 from knorth55/add-sleep add sleep in calib_required_controller
  • add sleep in calib_required_controller
  • Merge pull request #2708 from pazeshun/add-grasp_prediction_arc2017
  • Change topic name 'from_main' -> 'gripper_front'
  • [jsk_arc2017_baxter] Modify & re-apply https://github.com/start-jsk/jsk_apc/pull/2685
  • [jsk_arc2017_baxter] Copy baxterlgv7-interface.l from https://github.com/pazeshun/jsk_apc/blob/baxterlgv7-book-picking/jsk_arc2017_baxter/euslisp/lib/baxterlgv7-interface.l
  • [jsk_arc2017_baxter] Set png_level of compressedDepth to keep image_raw hz on kinetic When subscribing compressedDepth on kinetic, hz of image_raw drops. This is because load of CPU processing camera becomes too high. To avoid this on baxter-c1, png_level should be under 6.
  • Merge pull request #2685 from pazeshun/fix-wait-interpolation-until Fix :wait-interpolation-until not to finish immediately
  • Avoid infinite loop in :wait-interpolation-until called when robot stops
  • Fix :wait-interpolation-until not to finish immediately
  • add dynamixel_controllers as build_depend
  • Contributors: Shingo Kitagawa, Shun Hasegawa

4.2.1 (2019-04-18)

  • remove define_machine arg
  • fix typo
  • use machine as args
  • use c3 for scale launch
  • add baxter-c3 for scale
  • run check_arduino node in c2
  • fix typo in check_arduino.py
  • add check_arduino to kill not working arduino
  • add finger arg for xacro
  • add baxter_moveit_config as run_depend
  • update object-index comment
  • add object-index key args in :pick-object-in-movable-region
  • Option to customize shelf locations
  • Use if instead of null
  • Fix :recognize-object state to return t or nil
  • Make it slower to send avs for smoother motion I found scale 5.0 is too fast.
  • Option not avoiding tote after :pick-object
  • Option to customize tote and cardboard_boxes locations
  • Return recognized timestamp in :recognize-target-object
  • Add if-blocks to use only the single arm Usage `bash roslaunch jsk_arc2017_baxter baxter.launch launch_left:=false respawn_arduino:=false`
  • Add :move-head option to :pick-object of stow-interface In current ARC workspace moving head is not so necessary.
  • Add :use-scale option to :pick-object of stow-interface
  • Remove head_pan rotation while picking
  • transmission_interface::TransmissionSharedPtr = TransmissionPtr
  • Re-calibrate finger tendon winder
  • use macro for indigo build
  • use SharedPtr for transMIssion_interface 0.13.3 and above TransmissionPtr -> transmission_interface::TransmissionSharedPtr
  • Don't record right eye depth to avoid conflicts
  • Specify axis camera with hostname instead of ip address
  • Re-calibrate right vacuum pad tendon winder
  • clean up ik->nearest-pose
  • fix typo in baxter.l
  • Place ompl_planning.yaml to each robot
  • Change URDF and SRDF robot name to baxter to avoid euslisp error
  • Fix robot name in xacro
  • Refactor moveit config and launch
  • Add disable_collisions for cylindrical grasping
  • Add sanity check of baxterlgv7 grippers
  • Add moveit for baxterlgv7
  • Add baxterlgv7.launch without moveit and gripper sanity check
  • Ignore IK fail when placing
  • Change palm coords name
  • Set other palm coordinates instead of transforming
  • Fix palm endpoint of left gripper_v7
  • Add test of ri hand interface
  • Remove speak test as it's tested in upstream
  • Add test of baxterlgv7.l
  • Add test of baxter-interface and baxterlgv7-interface
  • Adjust :start-grasp and :stop-grasp to baxterlgv7
  • Enable to move gripper of baxterlgv7
  • Copy baxter interface to baxterlgv7 interface
  • Calibrate vacuum pad joint in left gripper_v7
  • Avoid name clashes of properties in baxter
  • Avoid name clashes of properties in baxterlgv7
  • Use tendon transmission and fix hardwareInterface for real robot
  • Build and export transmission library
  • Add srcs to describe tendon transmission
  • Add headers to describe tendon transmission
  • Fix transmission in left gripper_v7 urdf except finger tendon
  • Add euslisp model of baxter with left gripper_v7
  • Fix collision of left gripper_v7
  • Use M_PI as joint limits in left gripper_v7
  • Add urdf of baxter with left gripper_v7
  • Add left gripper_v7 meshes
  • refactor codes in stow-interface.l
  • add/delete-tote-scene supports :arms
  • remove sleep in moveit methods pr2eus_moveit uses service call, which do not need sleep.
  • remove unused arm args in recognize-bboxes for stow
  • Fix ri :speak method according to the upstream change
  • Contributors: Kentaro Wada, Shingo Kitagawa, Shun Hasegawa, Yuto Uchimi

4.2.0 (2017-11-01)

  • Adjust right hand astra camera
  • Fix offset of place object
  • Remove rack for cardboard boxes
  • Sanity check for /scaleX/output topics
  • Contributors: Kentaro Wada

4.1.9 (2017-10-28)

  • Install necessary directories
  • Contributors: Kentaro Wada

4.1.8 (2017-10-26)

  • Fix missing build_depends for testing with find_package
  • Contributors: Kentaro Wada

4.1.7 (2017-10-26)

  • They must be <run_depend> to generate eus messages for them
  • 4.1.6
  • Update CHANGELOG.rst
  • Fix redundant test_depend vs run_depend
  • Fix build error on build.ros.org
  • 4.1.5
  • Update CHANGELOG.rst
  • Install roslint + rostest for testing jsk_arc2017_baxter
  • Contributors: Kentaro Wada

4.1.4 (2017-10-15)

4.1.6 (2017-10-24)

  • Fix redundant test_depend vs run_depend
  • Fix build error on build.ros.org
  • Contributors: Kentaro Wada

4.1.5 (2017-10-23)

  • Install roslint + rostest for testing jsk_arc2017_baxter
  • 4.1.4
  • Update CHANGELOG
  • Contributors: Kentaro Wada

4.1.3 (2017-10-12)

4.1.2 (2017-10-11)

4.1.1 (2017-10-10)

  • [jsk_arc2017_baxter/euslisp/lib/baxter-interface.l] support ungrasp condition in :wait-interpolation-until.
  • Fix missing include files I got [No such file or directory "ros/ros.h"]{.title-ref}.
  • Revert "Use and_scale_ros and weight_candidates_refiner of jsk_perception" This reverts commit 124dbbe62bd03d49a3d4464df6f42844d761912d.
  • Don't change grasp-style- if next grasp style is nil
  • Add ros-info when ungrasp is detected
  • Detect ungrasp by scale
  • Use and_scale_ros and weight_candidates_refiner of jsk_perception
  • Don't trust pressure sensor again
  • Copy spin-off times from pick to stow
  • Fix release motion of pinch in pick
  • Spin off objects even if graspingp is nil in stow
  • Add machine tag in setup_for_stow
  • Make timeout longer in checking gripper state
  • Re-trust pressure sensor value on picking (#2562)
    • Re-trust pressure sensor value on picking
    • fix
    • fix
  • Add light meshes
  • Add missing build depend
  • Update calib_required_joint_controller.py
  • Change mode directly after detecting limit
  • Resolve overload before prismatic calib
  • Contributors: Kentaro Wada, Masaki Murooka, Shun Hasegawa

4.1.0 (2017-08-12)

  • Fix rotate wrist ik for :rarm (inverse of :larm) This solves problem reported at https://github.com/start-jsk/jsk_apc/issues/2560
  • Re-trust pressure sensor value on picking
  • Make sanity script faster
  • Fix state_server for use of only right/left arm
  • Use :gripper-x
  • Use IK to decide prismatic joint angle
  • Fix indent
  • Use random to place object to :c
  • Tune spin-off parameters
  • Cannot trust prismatic load
  • Don't trust too much the prismatic load
  • No need offset by using prismatic
  • Use prismatic IK for suction picking
  • Use prismatic joint as much as possible This reduces collision of arm to shelf, and load to the cables of cameras.
  • Revert "Fix offset in z axis while picking" This reverts commit 50baa62bd8009f2b4127c5fdd1afd4214e9468cd.
  • Make sure hand is inside of bin/tote
  • Fix offset in z axis while picking -330 is too large..
  • Fix prepose of picking inside the bin
  • Fix comment in :pick-object
  • Update pick.rviz
  • Refactor pick.launch
  • Revert "No need avoid-shelf-pose using moveit" This reverts commit ae2ff39e5b8d2cdf4757fcf5aa07b790d89d9ccb.
  • Launch arduino/dxl/scales on baxter-c2
  • Always check all gripper joints
  • Add script for sanity check of gripper_v6
  • Enable sanity check of action servers
  • No need avoid-shelf-pose using moveit
  • Fix for initial value of pick-result
  • Larger workspace
  • pick-res -> pick-result
  • Change to :grasp-succeeded, :grasp-failed and :ik-failed
  • Introduce :grasp-fail and :grasp-succeed
  • Increase pressure sensor frequency
  • Don't trust pressure sensor in final check
  • Change some 'graspingp' to 'pick-res' to allow :ik-fail
  • Filter pressure sensor when graspingp is nil
  • Make eus model loading faster
  • Re-calibrate left finger yaw joint
  • Use same rvizconfig for pick and stow
  • Fix for not finding force_proximity_ros on build.ros.org
  • Move library to euslisp/lib for jsk_2015_05_baxter_apc
  • Move library to euslisp/lib for jsk_2016_01_baxter_apc
  • Use unless
  • Add info message of obj-pos
  • Use end-coords-interpolation in picking
  • Run sanity check before the launch of the pick.launch
  • Use stderr
  • Run sudo because it is required in force_recognize_usb_devices
  • Speak before approaching the picking target obj
  • Speak with more clear sentense
  • Add script to forcely recognize usbs
  • Fix for euslint
  • add hyphen in slot variables and remove unused ones
  • set graspingp as local variable
  • Open fingers when placing
  • Add moveit workspace scene
  • Fix permission of arc-interface.l
  • Stop suction while moving fingers
  • Add :arc-reset-pose as faster reset-pose than :fold-pose-back
  • Use axis camera to record baxter motion
  • add damping to gripper joints
  • add baxter-init function
  • Speak more
  • Fix renamed test files
  • Speak the target object name before picking
  • Fix test
  • Organize test files for eus
  • Add speak interface to baxter-interface
  • fix unset local variables
  • set target-index as local variable
  • Fix fail count
  • Update pick.rviz
  • Contributors: Kentaro Wada, Shingo Kitagawa, Shun Hasegawa

4.0.9 (2017-07-29)

  • Adjust left arm pressure threshold for Pick final
  • Adjust cardboard for Pick final
  • Fix sanity script for weight_candidates_refiner
  • Contributors: Kentaro Wada

4.0.8 (2017-07-29)

  • Fix gripper rotation after approach
  • Loosen gripper rotation in suction
  • update place object motion
  • remove unused attached object scene
  • modify rackboard leg scene
  • move object in bin and change condition
  • Fix midpoints
  • Don't move arm in first suction
  • Fix offset and add midpoints
  • Use :rotate-wrist-ik
  • Don't move arm in second suction
  • Check sanity of system (topics/nodes) by script
  • add local-variable candidate-labels
  • add forgotten remove nil
  • set order as local variable
  • use moveit for place in cardboard c
  • fix cardboard c offset
  • Contributors: Kentaro Wada, Shingo Kitagawa, Shun Hasegawa

4.0.7 (2017-07-28)

  • Update cardboard_marker pose
  • place object l/r side
  • Fix target-bin bug in pick (caused by postponed object)
  • Avoid shelf for finger if Ik fails
  • Don't return-object when IK in picking fails
  • Revert "sort largest object by graspability" This reverts commit c586b6c3a8426398638e37f98a1924cc92c35677. Conflicts: jsk_arc2017_baxter/euslisp/lib/arc-interface.l
  • Contributors: Kentaro Wada, Naoya Yamaguchi, Shun Hasegawa

4.0.6 (2017-07-28)

  • Update tote_marker.yaml
  • Fix typo in sorting
  • sort largest object by graspability
  • Contributors: Kentaro Wada, Shingo Kitagawa

4.0.5 (2017-07-28)

  • Fix fast second suction
  • Fix low pinch
  • Show task duration time by info
  • Use cyan
  • classifier threshold decrease according to runtime
  • ros-debug in check-gripper-state.l
  • Update vacuum threshold
  • Resolve finger collision
  • Fix typos
  • Fix typo
  • check prev-target-obj and return from loop fast
  • return object near center
  • adjust stow task marker
  • fix euslint
  • place object from higher place
  • Fix typo
  • set stowing target-bin considering object volumes
  • Contributors: Kei Okada, Kentaro Wada, Naoya Yamaguchi, Shingo Kitagawa, Shun Hasegawa

4.0.4 (2017-07-27)

  • Fix order types param in visualize_json
  • Update hand-eye extrinsic params FIXME: we need different extrinsic params for pick and stow.
  • Fix typo
  • Add info message to :check-near-walls
  • Change yaw angle in corner picking
  • Fix offset of pinch motion
  • Fix reset of fail-count for picking
  • improve :get-next-work-order
  • Contributors: Kentaro Wada, Shingo Kitagawa, Shun Hasegawa

4.0.3 (2017-07-27)

  • Adjust astra_hand
  • Fix pinch motion for pick task
  • return area in pick
  • Check launch for fcn seg with all candidates
  • fix bug in get-next-target-bin
  • place object to bin center after pinch (because of IK)
  • Fix bug about :count-limit
  • modify return object in stow
  • pick-interface.l: fix tab->spaces
  • fix test-get-next-target-bin
  • add debug code
  • fix test name in test_arc_interface
  • fix test to pass test
  • Update cardboard_marker.yaml
  • increase count-limit for recognize failure
  • Set target_location in pick.launch
  • improve overlook pose for pick task
  • Set target_location to tote in stow
  • Fix marker locations
  • Make-random-state for euslisp
  • return-from when classifier timeout
  • fix wrong stamp in recognize target object
  • Fixes for unknown objects
  • remove bbox-volume threshold to select target obj
  • Change pinch motion
  • Abort picking when IK before grasping fails
  • Contributors: Kei Okada, Kentaro Wada, Naoya Yamaguchi, Shingo Kitagawa, Shun Hasegawa

4.0.2 (2017-07-27)

  • fix bug in classifier results
  • return from :verify-object if classified probability < proba-thre
  • reset return tote offset
  • print ros-info of return object offset
  • improve tote return motion
  • improve decide-place-area and move to arc-interface
  • improve return method and move to arc-interface
  • ros-info-green in grasp-style
  • modify move-arm-body->tote motion
  • place object randomly
  • remove unix::sleep in arc-interface.l
  • return object randomly
  • Skip IK when IK fails in picking
  • Speed up finger motion in suction
  • Fix place object of pinch in pick
  • Improve resolving finger collision
  • Resolve collision between fingers in fold-pose-back
  • make slower place-object motion
  • fix typo in place-object
  • refine place motion for cardboard :a and :b
  • fix typo in place in pick-object I haven't tested with real robot.
  • consider bin_contents in get-next-target-bin
  • set less recognize trial times
  • remove unnecessary setq
  • use stamp just after recognize pose for recognize
  • make task motion faster
  • return-from :pick-object faster when graspingp nil
  • set count-limit 5 for start-picking-fail-count
  • remove unused state in main
  • add count-limit key in task-interface
  • move arm lower when pick object
  • Contributors: Kentaro Wada, Naoya Yamaguchi, Shingo Kitagawa, Shun Hasegawa, Yuto Uchimi

4.0.1 (2017-07-26)

  • Fix for euslint
  • Make it work grasped_region_classifier with resized image
  • Fix cluster_indices_to_indices in grasped_region_classifier
  • Restart gripper when gripper response is stopped
  • Respawn when dynamixel driver dies
  • fix typo in place object
  • lift first, and rotate wrist then
  • postpone object in when grasp-style nil
  • Use point indices for grasped region
  • Draw classification result in grasped_region_classifier.launch
  • Update stow.rviz
  • Improve message from data_collection_server
  • Save only image in data_collection_server
  • comment out transform collection
  • when # of scale-cand = 1, check if it exists in order
  • add grasped_region_classifier in stow task
  • Check if scale-candidates in verify-object if scale returns nil
  • Classify object in grasped region
  • Refactoring
  • add grasped_region_classifier to pick task
  • create grasped region classifying pipeline applied context by scale
  • lift object first, and rotate wrist
  • Fix threshold of pressure to detect gloves
  • Don't push gripper to object in pinch
  • finish task when target-bin is nil
  • Update hand-eye extrinsic params
  • Collect data while the pick/stow task (#2391)
    • Collect data while the pick/stow task
    • Disable data_collection by default
    • Make it work
    • Make it work
  • fix long line to pass euslint
  • remove head_pan waiting in pick_object
  • lift higher to avoid collision b/w obj adn shelf
  • lift object set :rotation-axis t to avoid collision
  • postpone target-obj if it cannot start picking
  • add reset start-picking-fail-count
  • rotate head in proper position
  • filter candidates in select-work-order-in-bin
  • add calib-prismatic-joint state in task state machine
  • Contributors: Kentaro Wada, Shingo Kitagawa, Yuto Uchimi

4.0.0 (2017-07-24)

  • Improve rosoncole output on rviz
  • Add right_main and left_main flag to pick/stow.launch
  • Re-calibration right_hand hand-eye extrinsic params
  • do not stop-grasp in pinch
  • avoid collision with head_pan
  • Error message about movable region
  • Fix ik failure in pinching
  • Fix for record and play the rosbag
  • Fix finger angle in spherical position
  • Re-calibrate finger tendon
  • Fix movable region
  • Fix rotation of gripper to avoid IK failure
  • Move reseting gripper to pick-object-with-movable-region
  • Lift gripper to avoid collision
  • Use rotate-wrist-ik in pick-object
  • Use near-wall in suction
  • Use near-wall in pinch
  • Add :check-near-wall
  • reset gripper rotation after lifting object
  • Revert "reset gripper rotation after lifting object" This reverts commit 2c6935465c32e1ef110f61074a83d9bf89b6cbb7.
  • modify overlook-pose offset
  • reset gripper rotation after lifting object
  • Improve pinching
  • Don't extend prismatic joint in :stop-grasp
  • reset weight error for pick task
  • use spherical grasp-pose in suction picking
  • use prismatic-based approach in :pick-object
  • update place-object motion
  • update cardboard_marker yaml
  • refine moveit scene operation in main
  • add cardboard-rack scene methods
  • add and delete cardboard-scene separately
  • add cardboard rack leg scene methods
  • Re-calibrate vacuum pad joint
  • Set multiturn after calib
  • Add euslisp interface to prismatic calib
  • Enable dynamic calib of prismatic joints
  • Add action for prismatic joint calib
  • add object-in-hand as attached object scene
  • update state_server for new state_machines
  • check start picking and redesign state_machine
  • introduce grasp_style_server in task system
  • add :get-grasp-style method
  • fix typo in state_server.py
  • Use angle-vector-raw
  • Better drawing from box after suction grasp of object
  • use only centroid for determining obj-pos
  • slow down return-object motion
  • fix typo in baxter-interface.l moveit-environment
  • Fix typo
  • Dynamic movable region in :pick-object method
  • do not use :revert-if-fail
  • use :rotation-axis nil in pinch
  • restrict pinch-yaw : -pi/2 ~ pi/2
  • change how to sethash proximity
  • add :finger-proximity in :wait-interpolation-until in pinch
  • use hash-table in proximities-
  • remove unused valiable : middle proximity sensor
  • change prismatic joint length during pinch
  • Save scale value outputs correctly
  • change box index in arc-interface.l to pick largest boundingbox
  • change keyword :proximity -> :finger-proximity
  • add proximity condition in :wait-interpolation-until
  • add n-random key in get-larget-target-object
  • Fix load direction
  • Add missing slot variable
  • move gripper config in robots/ dir
  • Use baxter_simple.urdf in jsk_arc2017_baxter baxter.xacro
  • Fix error of weight_candidates_refiner for expo (20g)
  • update get-next-target-bin test
  • skip finished-objects in :get-largest-object-index
  • fix typo: add missing local variable
  • set objects rosparam in :wait-for-user-input
  • add :reset-object-tables method
  • use hash-table for objects controll
  • Adjust hand-eye extrinsic parameters for both hands (#2325)
  • modify place object position for stable place
  • increase weight error for pick task
  • modify move-arm-body->tote-overlook-pose position
  • update shelf and tote marker
  • add NOQA for long line in state_server
  • fix typo: rename to check-trail-fail-count state
  • Stabilize flex sensor
  • Add rosbag record for pick and stow
  • Use box_type instead of boxes to select bin or tote
  • enable data collection in tote
  • add get_object_weights() in jsk_arc2017_common
  • Reasonable time-limit for eus test codes
  • add get-next-target-bin test
  • reset recognize-fail-count in check-recognize-fail-count
  • add check-recognize-fail-count state in pick
  • select work order dynamically
  • add select-work-order-in-bin method
  • add :get-next-target-bin method
  • enable cpi decomposer for labels in pick task
  • line slots in alphabetical order
  • Remove outlier values in flex sensor values
  • updated extrinsic parameter between depth_optical_frame and rgb_optical_frame
  • updated IR intrinsic parameter
  • reset picking-fail-count after verify-object this is because [:graspingp]{.title-ref} is always [t]{.title-ref}, when [grasp-style]{.title-ref} is [:pinch]{.title-ref}
  • add check trail fail count
  • remove obj from postponed list when finished
  • add postponed-objects in slots
  • subscribe work-order msg only once current system only needs to subscribe work order once in the beginning.
  • add finished-objects slots
  • line slots in alphabetical order
  • Fix larm IK to accept :use-gripper nil
  • update stow.rviz
  • update pick.rviz
  • use raw instead to make lifting object faster
  • do not wait move-hand in pick-object
  • add put stop-grasp in proper position
  • try picking twice and not recognize
  • add max_acceleration for right_s0 in joint_limits
  • Update doc for create_dataset2d
  • Can select both / right / left
  • Create dataset V2
  • Update README for look_around_bins
  • Contributors: Kentaro Wada, Naoya Yamaguchi, Shingo Kitagawa, Shun Hasegawa, Yuto Uchimi

3.3.0 (2017-07-15)

  • Add look_around_bins experiment
  • Update hand action state in :hand-interpolatingp
  • Clean up :graspingp
  • Always set graspingp of pinching as true
  • Detect serial blocked and restart
  • Re-calibrate left vacuum pad joint
  • Move gripper upward in :return-object to prevent collision
  • Add initialization of left hand
  • Fix for slow tf_to_transform
  • Rotate head monitor before collect_data_in_shelf
  • Use transformable_markers_client in collect_data_in_shelf
  • Disable moveit to see in shelf
  • add sleep after publishing moveit scene msg
  • Fix :get-arm-controller for larm (#2271)
  • Program to test hand-eye coordination (#2265)
    • Test hand eye coordination
    • Add test_hand_eye_coordination example
  • add controller-type in cancel-angle-vector (#2266)
  • Make \@pazeshun happy by hand-eye calibration (#2264)
    • Make \@pazeshun happy by hand-eye calibration
    • Remove initial pose setting in stereo_astra_hand.launch
  • fix indent in baxter-interface.l
  • add arm-head-controller, exclude head from arm-controller
  • Fix topic of republish_gripper_sensor_states.py
  • Fix typo in :finger-closep
  • Fix line length
  • vacuum_gripper.srdf.xacro -> gripper_v6.srdf.xacro
  • Adjust pick and stow to left gripper-v6
  • Adjust moveit config to left gripper-v6
  • Adjust baxter interface to left gripper-v6
  • Adjust baxter.launch to left gripper-v6
  • Add left gripper-v6 to gripper launch
  • Add udev rule for left gripper-v6
  • Add Arduino firm for left gripper-v6
  • Add config for left gripper-v6
  • Add left gripper-v6 to robot model
  • Add mesh of left gripper-v6
  • loosen weight error limit
  • Enable to change offset of flex threshold in :wait-interpolation-until
  • Improve logging of :wait-interpolation-until
  • Fix for euslint
  • divide too long lines into several lines
  • add check pinch graspability program
  • add midpoint when returning from place object
  • remove duplicated file
  • add unix::sleep in while loop
  • change error to ros::ros-error
  • wait for :interpolatingp
  • use proximity in :start-grasp
  • rotate gripper according to BoundingBox pose before pinching
  • check if angle-vector length is 0 or 2
  • add scale methods in arc-interface
  • refine weight_candidates_refiner node
  • add scale node in setup launch
  • add scale.launch
  • add use_topic and input_candidates args
  • update place motion
  • make cardboard bbox bigger to avoid collision
  • disable moveit and add fixme
  • escape when both arm waiting other arm
  • fix typo in main program
  • try twice when grasp-stye is :suction
  • change head_pan angle to suppress warning message
  • add moveit debug arg in baxter.launch
  • add midpoint for place object
  • Fix encoding of depth: use 32FC1
  • Stop using right side depth sensor to avoid ir conflicts
  • Calibrate intrinsic parameters
  • Use software registration for depth registration
  • Revert #2235 'Grasp using proximity' Because
    • We cannot use left hand with this change.
    • Has typo.
  • update pick.rviz
  • Add test for :recognize-bboxes
  • update add-cardboard-scene method
  • fix typo in arc-interface
  • update transformable_markers_client node name
  • modify to set offset in world coords
  • update ik->cardboard-center to use subscribed bbox
  • add recognize-cardboard-boxes method
  • add cardboard markers
  • order depends of jsk_arc2017_baxter alphabetically
  • add smach_viewer args in main launch
  • add smach_viewer as run_depend
  • apply stereo to setup_for_pick/stow.launch (fixed 3e91e84)
  • Fix topic name in euslisp
  • Replace publish_boxes to transformable_markers_client/output/boxes
  • Use transformable_markers_client to adjust scene
  • fix typo :rarm -> arm
  • correct open/close parenthesises
  • add exit after ros::ros-error
  • add unix::sleep in while loop
  • change error to ros::ros-error
  • correct indent 3
  • wait for :interpolatingp
  • correct indent 2
  • correct indent
  • use proximity in :start-grasp
  • rotate gripper according to BoundingBox pose before pinching
  • check if angle-vector length is 0 or 2
  • Add sleep in :wait-interpolation-until loop
  • replace bg_label by ignore_labels
  • use arc2017 object_segmentation_3d in stow task
  • return nil when largest box is not found
  • Show FCN results in stow.rviz
  • Improve stow.rviz with transparent moveit scene
  • Resolve dependency on position_controller/joint_trajectory_controller
  • Revert "Apply stereo camera to setup_for_pick/stow.launch"
  • do not use fused RGB as FCN input
  • apply stereo camera to setup_for_pick/stow.launch
  • Contributors: Kentaro Wada, Naoya Yamaguchi, Shingo Kitagawa, Shun Hasegawa, Yuto Uchimi

3.2.0 (2017-07-06)

  • add in_hand_recognition launch
  • add astra_external launch
  • add set-target-location method
  • update candidates for segmentation via topic
  • Avoid collision to shelf or tote in pick-object
  • Fix offset of place-object in pick for moveit
  • Ignore collision between fingers and other gripper parts
  • Wait for opposite return-object in pick task
  • Don't turn gripper over in ik->cardboard-center
  • Fix logging of wait-interpolation-until
  • Fold fingers more tightly before suction-object
  • Move pinch-yaw to key in try-to-pick-object
  • Add meta method :try-to-pick-object and :try-to-suction-object
  • Rewrite waiting for :interpolatingp
  • Reset picking-fail-count for new target obj
  • Ignore unstable flex value and calib flex offset
  • Don't use prismatic load for graspingp and calib thresholds
  • Calib finger init state of try-to-pick-object
  • Re-calibrate finger tendon winder
  • Avoid collision between fingers
  • Add logging to try-to-pinch-object
  • Stop grasp in return-from-pick-object
  • Add pinching to pick
  • Don't back to fold-pose-back until 2nd failure in pick
  • Add :try-to-pinch-object and use it in stow
  • Use wait-interpolation-until in try-to-suction-object
  • Split try-to-pick-object to try-to-pick-object-v4 and try-to-suction-object
  • Enable :pick-object-with-movable-region to get grasp-style
  • Add set-grasp-style state in stow
  • Don't back to fold-pose-back until 2nd failure in stow
  • Enable to set palm endpoint as move-target in IK
  • Enable to select no gripper controller
  • Add :wait-interpolation-until
  • Erase one-shot-subscribe in pressure calib
  • Erase one-shot-subscribe and consider pinching in :graspingp
  • Enable :start-grasp and :stop-grasp to move hand
  • Add get func of gripper sensor states
  • Enable to get gripper sensor states
  • Create object_segmentation_3d.launch in jsk_arc2017_common
  • return nil when largest bbox subscription timeout
  • Calibrated extrinsic parameters of right_hand_stereo by \@YutoUchimi
  • Calibrated extrinsic parameters of right_hand_stereo by \@YutoUchimi
  • introduce left stereo astra camera thanks to \@YutoUchimi and \@pazeshun
  • modify not to use moveit unnecessary part
  • modify joint_limits for moveit
  • Visualize json_dir on baxter's xdisplay
  • introduce stereo Astra Mini S camera into both hands
  • modify json save dir
  • save json in pick task
  • modify :update-json api in arc-interface (send self :update-json target-obj :src :tote :dst (cons :bin target-bin)) (send self :update-json target-obj :src (cons :bin target-bin) :dst (cons :cardboard target-cardboard)) (send self :update-json target-obj :src (cons :bin target-bin) :dst (cons :bin target-bin))
  • calibrate intrinsic parameter of left hand camera
  • Contributors: Kentaro Wada, Shingo Kitagawa, Shun Hasegawa, Yuto Uchimi

3.1.0 (2017-06-30)

  • Fix for euslint
  • Update data collection motion
  • Change save_dir in dynamic
  • Update motion
  • Use last 3 frames as texture
  • Generate texture model of objects by kinfu
  • move set segmentation candidates method
  • update UpdateJSON and replace SaveJSON by Trigger
  • correct indent in stow-interface.l
  • use fcn in stow task recognition pipeline
  • remove unused parameters in setup_for_stow
  • move hand camera nodes to setup launch
  • update stow_task environment config
  • add json_saver methods and save json in main loop
  • add json_saver.py
  • use latest fcn model for segmentation
  • change state-machine frequency: 1.0 -> 2.0 hz
  • add path-constraints for place object
  • update pick motion parameters for new env
  • update cardboard moveit methods
  • update cardboard pos for new env
  • update shelf_bin and shelf_marker for new shelf
  • fix typo in baxter.launch
  • Merge pull request #2154 from wkentaro/test_task_arc_interface Add test for motion code in both pick and stow tasks
  • add baxter-moveit-environment for gripper-v6
  • update right_vacuum_gripper.xacro for gazebo
  • add baxter_sim.launch in jsk_arc2017_baxter
  • add moveit config for gripper-v6
  • Remove no need newline in tote.yaml
  • Merge branch 'master' into test_task_arc_interface
  • Don't load old robot model
  • Revert mvit-env and mvit-rb
  • Adjust gravity compensation automatically
  • Fix parenthesis and add comment to move-hand
  • Adjust rvizconfig to gripper-v6
  • Fix arc-interface to support left hand
  • Use only left astra mini
  • Apply IK additional check to avoid collision to bin wall
  • Use wait-interpolation-until-grasp to prevent unnecessary push
  • Fix wait-interpolation-until-grasp for first interpolatingp nil
  • Fix rarm pressure threshold
  • Use right_hand_left_camera in setup_for_stow
  • Fold fingers in picking to avoid collision
  • Add finger init motion to pick and stow init
  • Use right_hand_left_camera in setup_for_pick
  • Disable rviz in default of stereo_astra_hand
  • Fix linter target
  • Adjust euslisp codes to baxter with right gripper-v6
  • Add baxter.launch for right gripper-v6
  • Add ros_control layer for gripper-v6
  • Add dxl controller for gripper-v6
  • Add baxter model with right gripper-v6
  • Place location config files in jsk_arc2017_baxter
  • state_server accept Ctrl-C keyboard interruption
  • remove duplicated line
  • update stow-arc-interface test
  • add publish_tote_boxes and interactive tote marker
  • Add test for arc-interface for stow task
  • Generalize visualize-bins by renaming it to visualize-boxes
  • Publish source location of task in setup_for_(pick|stow).launch
  • Fix typo and test arc_interface for pick task
  • Move task config to jsk_arc2017_baxter
  • Yet another refactoring of stereo_astra_hand.launch
  • add "task" argument to select shelf_marker.yaml
  • Refactoring right_hand rgb-d camera stereo
  • fix typo
  • add files for data collection
  • Update tf from right to left by using project matrix
  • Update transformation from left_hand to right_hand
  • Use moveit to avoid collision to box and shelf
  • Collect data in shelf bins
  • Fix typo in filename
  • Update rvizconfig name
  • Update rvizconfig
  • Reuse possible code by using include in roslaunch file
  • Don't use laser
  • Refactor stereo_astra_hand.launch
  • Remove spam.launch
  • Improve visualization of triple fusion
  • support quad fusion
  • update calibration yaml files
  • Quad fusion using depth from laser scan
  • test for laser depth_image_creator
  • add tilt laser to stereo system
  • Launch right stereo camera in baxter.launch
  • calibrated extrinsic parameter
  • add depth image merging nodes
  • add monoral_camera_info files
  • move stereo_camera_info files from jsk_2016_01_baxter_apc to jsk_arc2017_baxter
  • move stereo_astra.launch to launch/setup/ directory
  • introduce stereo astra_mini_s
  • Add create_udev_rules and simplify README
  • Merge pull request #2152 from pazeshun/fix-bugs-stow Fix small bugs added when adding stow
  • Don't change target-obj in verify-object
  • Revert offsets for bin overlook pose
  • Fix mistakes of arg and return value
  • Use fold-pose-back in arc-interface
  • Fix translation in ik->bin-center and ik->tote-center
  • add moveit-p slot in stow-interface
  • add moveit-p slot in pick-interface
  • Add Arduino sketch for sparkfun sensor
  • Remove unused constants and functions in firm
  • Lighten GripperSensorStates msg
  • add main program state machine test
  • add state_server test for stow task
  • fix indent of main launch files
  • use symbol-string to replace string-upcase
  • translate bin/tote coords in local coordinate
  • fix typo in arc-interface
  • add stow.launch and stow.rviz
  • add stow-main.l
  • add stow-interface.l
  • update pick methods and add :pick-object-in-tote
  • add stow_task methods and slots
  • mv ik->cardboard-entrance -> ik->cardboard-center
  • replace :ik->bin-entrance by ik->bin-center
  • use bin-cubes- instead of bin-boxes-
  • reset order in wait-for-user-input
  • rename to :recognize-target-object and update :recognize-objects-in-bin -> :recognize-target-object
  • update pick-main state machine
  • state_server support stow_task and set rosparam
  • add shelf_marker for stow_task
  • fail-count -> picking-fail-count for pick task
  • add setup_for_stow launch
  • add &rest args in :fold-pose-back method
  • move fold-pose-back method in arc-interface
  • Publish proximity sensor values with other gripper sensor states (#2125)
    • add FA-I sensor to gripper-v5
    • add GripperSensorStates republish program
    • Rename and refactor republish_gripper_sensor_states.py
    • rename finger flex topic
    • add eof to .travis.rosinstall
  • fix typo in pick-interface.l (#2133)
  • add roseus_smach run_depend in package.xml
  • add lint test for node_scripts
  • add state_server test
  • add :get-state method in arc-interface
  • add FIXME smach_viewer in main.launch
  • add state_server in main.launch
  • use smach state-machine in pick-main.l
  • add state_server methods in arc-interface
  • add state_server.py this server collect state of both arms and determine which arm can start picking
  • add UpdateState GetState and CheckCanStart srv
  • add pick-interface
  • move :send-av in arc-interface
  • use baxter-robot for init robot and add FIXME
  • add :spin-off-by-wrist in arc-interface
  • arc-interface inherits propertied-object
  • use ri baxter in arc-interface I follwed tfl usage in robot-interface.l.
  • use global var tfl set in robot-interface
  • rename arc -> ti ti is named after task-interface
  • use robot of slots in baxter-interface
  • split arc-interface and baxter-interface
  • Add Arduino firmware for right gripper-v6
  • fix bug in pick-main
  • update move overlook method to support all bins
  • modify :ik->bin-entrance
  • do not wait head motion
  • modify movable region
  • modify overlook-pose
  • move point-shelf-position.l
  • rename detect-bin-position -> point-shelf-position
  • add require lines and show warn message
  • redefine detect-bin-position() in another file
  • point ideal position of bin
  • set movable region for bin narrower in order not to collide with bin
  • improve motion in :place_object
  • remove inefficient motion in :recognize_objects_in_bin
  • calibration for rarm in the beginnig, and after that larm. not simultaneously.
  • use key in pick-init
  • use angle-vector-raw in pick method
  • fix typo in moveit methods
  • add pick.rviz in jsk_arc2017_baxter
  • set default arg moveit as true
  • add moveit arg in pick launch
  • add moveit scenes in pick-main
  • add moveit methods in arc-interface
  • rename detect-bin-position -> point-shelf-position
  • add require lines and show warn message
  • redefine detect-bin-position() in another file
  • point ideal position of bin
  • do not wait head motion
  • modify movable region
  • modify overlook-pose
  • use key in pick-init
  • use angle-vector-raw in pick method
  • fix typo in moveit methods
  • add pick.rviz in jsk_arc2017_baxter
  • set default arg moveit as true
  • add moveit arg in pick launch
  • add moveit scenes in pick-main
  • add moveit methods in arc-interface
  • refine place_object motion (#2103)
    • remove and move rosparam and add TODO in pick-main
    • refine place_object motion
  • fix :pick_object (#2101)
  • Contributors: Kei Okada, Kentaro Wada, Naoya Yamaguchi, Shingo Kitagawa, Shun Hasegawa, Yuto Uchimi, YutoUchimi

3.0.3 (2017-05-18)

  • Add roseus as build_depend
  • update midpose to go back fold-pose-back (#2093)
  • Contributors: Kentaro Wada, Shingo Kitagawa

3.0.2 (2017-05-18)

3.0.1 (2017-05-16)

  • Move astra_hand.launch from setup_for_pick.launch to baxter.launch
  • fix typo in CMakeLists
  • Fix for moved euslint to jsk_apc2016_common
  • Depends at test time on jsk_2016_01_baxter_apc
  • add wait condition for wait_for_user_input
  • got to wait_for_opposite_arm first
  • update waiting condition
  • fix typo in arc-interface
  • mv euslint to jsk_apc2016_common package
  • Contributors: Kentaro Wada, Shingo Kitagawa, YutoUchimi

3.0.0 (2017-05-08)

  • add TODO in util.l
  • rename opposite-arm -> get-opposite-arm
  • move get-bin-contents to arc-interface
  • format apc -> arc for ARC2017
  • remove unused package and sort alphabetically
  • add find_package jsk_2016_01_baxter_apc in test
  • refer related issue in TODO
  • move some util func in apc-interface
  • add TODO: make apc-inteface and pick-interface class properly
  • make tf->pose-coords as a method of apc-interface
  • rename arg launch_main -> main
  • set myself as a author
  • mv pick_work_order_server -> work_order_publisher
  • replace publish_shelf_bin_bbox to existing node
  • improve euslint to accept path
  • remove unnecessary lines in CMakeLists
  • update pytorch fcn model file
  • place manager in ns
  • fix and improve let variables
  • use arm2str instead of arm-symbol2str
  • improve picking motion
  • when object is not recognized, wait opposite arm
  • rename get-movable-region -> set-movable-region
  • modify pick object motion
  • angle-vector use :fast and :scale
  • update overlook-pose to avoid aggresive motion
  • rename baxter-interface -> apc-interface
  • fix typo and improve euslisp codes
  • fix typo in pick.launch for jsk_arc2017_baxter
  • add pick.launch for arc2017
  • add euslint in jsk_arc2017_baxter
  • add euslisp codes for arc2017
  • add myself as a maintainer
  • update CMakelists.txt and package.xml for roseus
  • move baxter.launch to setup
  • add setup_for_pick.launch for arc2017
  • add baxter.launch for arc2017
  • move collect_data_in_bin in launch/main
  • add run_depend in jsk_arc2017_baxter
  • Add link to wiki
  • Fix typo in collect_data_in_bin.launch
  • Save tf and bin_name also
  • Save tf also
  • Save data with compression
  • Update save dir
  • Add data_collection program in bin
  • Contributors: Kentaro Wada, Shingo Kitagawa

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