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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
Selective Dualarm Stowing
Additional Links
No additional links.
Maintainers
- Shingo Kitagawa
Authors
- Shingo Kitagawa
Selective Dualarm Stowing
Paper
Shingo Kitagawa, Kentaro Wada, Kei Okada, Masayuki Inaba:
Learning-based Task Failure Prediction for Selective Dual-arm Manipulation in Warehouse Stowing,
in The 15th International Conference on Intellignet Autonomous Systems, 2018.
Prerequisition
- jsk_apc
- Chainer
How to run
Data Collection
$ roslaunch jsk_2016_01_baxter_apc baxter.launch moveit:=true
# other pane
$ roslaunch jsk_2016_01_baxter_apc setup_for_stow.launch
# other pane
$ roslaunch selective_dualarm_stowing bimanual_stow_data_collection.launch
# other pane
$ rosrun selective_dualarm_stowing bimanual-stow-data-collection.l
Training
$ cd experiments
$ ./train_alex.py -h
usage: train_alex.py [-h] [--gpu GPU] [-o OUT] [--resume RESUME] [--loop LOOP]
[--threshold THRESHOLD] [--test-size TEST_SIZE]
optional arguments:
-h, --help show this help message and exit
--gpu GPU
-o OUT, --out OUT
--resume RESUME
--loop LOOP
--threshold THRESHOLD
--test-size TEST_SIZE
# Example
$ ./train_alex.py --gpu 0 -o ../logs/alex/latest --loop 10 --threshold 0.5 --test-size 0.2
Execution
$ roslaunch jsk_2016_01_baxter_apc baxter.launch moveit:=true
# other pane
$ roslaunch jsk_2016_01_baxter_apc setup_for_stow.launch
# other pane
$ roslaunch selective_dualarm_stowing selective_dualarm_stowing.launch
# other pane
$ rosrun selective_dualarm_stowing selective-stow.l
Citation
@inproceedings{SelectiveDualarmStowing:Kitagawa:IAS15,
author={Shingo Kitagawa and Kentaro Wada and Kei Okada and Masayuki Inaba},
booktitle={The 15th International Conference on Intellignet Autonomous Systems},
title={Learning-based Task Failure Prediction for Selective Dual-arm Manipulation in Warehouse Stowing},
year={2018},
month={june}
}
CHANGELOG
Changelog for package selective_dualarm_stowing
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 pull request #2688 from knorth55/add-knorth55-ias15 add knorth55 IAS15th demo
- fix typo
- add selective dualarm stowing
- 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
| Deps | Name |
|---|---|
| catkin | |
| cv_bridge | |
| jsk_2015_05_baxter_apc | |
| jsk_2016_01_baxter_apc | |
| jsk_data | |
| jsk_perception | |
| jsk_pcl_ros | |
| jsk_topic_tools | |
| jsk_recognition_msgs | |
| jsk_rqt_plugins | |
| message_filters | |
| rospy | |
| sensor_msgs |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
- launch/setup_for_stow.launch
- launch/selective_dualarm_stowing.launch
-
- right_main [default: true]
- launch_astra [default: false]
- launch/bimanual_stow_data_collection.launch
-
- collect_data [default: true]
- right_main [default: true]
- left_first [default: true]
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged selective_dualarm_stowing at Robotics Stack Exchange
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