baxter_paper_filing

baxter_paper_filing

Filing a paper by baxterlgv8 (baxter with left gripper-v8).

Installation

Install whole jsk_apc

Execution

roslaunch baxter_paper_filing baxterlgv8.launch
roslaunch baxter_paper_filing setup_for_paper_filing.launch
roseus `rospack find baxter_paper_filing`/euslisp/paper-filing.l

# In Euslisp interpreter
(paper-filing-init :ctype :larm-head-controller :moveit t)
(send *ti* :mainloop)

Demo with roseus_resume

Installation with roseus_resume

1. Setup roseus_resume
2. Merge jsk_apc workspace into roseus_resume workspace:

   cd ~/roseus_resume_ws/src/
   wstool merge https://raw.githubusercontent.com/start-jsk/jsk_apc/master/fc.rosinstall.${ROS_DISTRO}
   wstool update
   cd ..
   rosdep install -y -r --from-paths .
   catkin build
   source ~/roseus_resume_ws/devel/setup.bash

Execution

roslaunch baxter_paper_filing baxterlgv8.launch ready_for_roseus_resume:=true
roslaunch baxter_paper_filing setup_for_paper_filing.launch
roseus `rospack find baxter_paper_filing`/euslisp/paper-filing-roseus-resume.l

# In Euslisp interpreter
(paper-filing-init :ctype :larm-head-controller :moveit t)
(send *ti* :mainloop)

Sensor Evaluation Experiments

Installation

See installation of main demo

Execution

# Distance Measurement
roseus `rospack find baxter_paper_filing`/euslisp/baxterlgv8-sensor-eval.l
## In Euslisp interpreter
(instance-init)
(dist-eval-init)
(dist-eval)

# Picking Up a Paper
roseus `rospack find baxter_paper_filing`/euslisp/baxterlgv8-sensor-eval.l
## In Euslisp interpreter
(instance-init)
(pick-paper-init)
(pick-paper)

# Picking Up a Paper Box
roseus `rospack find baxter_paper_filing`/euslisp/baxterlgv8-sensor-eval.l
## In Euslisp interpreter
(instance-init)
(pick-paper-init)
(pick-paper-box)

# Picking Up a Paper Box with Conventional Reflection Intensity Sensor
roseus `rospack find baxter_paper_filing`/euslisp/baxterlgv8-sensor-eval.l
## In Euslisp interpreter
(instance-init)
(pick-paper-init)
(pick-paper-box :intensity t)

# Grasping a Paper Box with PR2 tactile sensor
roseus `rospack find baxter_paper_filing`/euslisp/pr2-grasp-paper-box.l
## In Euslisp interpreter
(grasp-paper-box-init :inst t)
(grasp-paper-box)

Video

See here

Citation

@ARTICLE{hasegawa2020online,
  author={Hasegawa, Shun and Yamaguchi, Naoya and Okada, Kei and Inaba, Masayuki},
  journal={IEEE Robotics and Automation Letters},
  title={Online Acquisition of Close-Range Proximity Sensor Models for Precise Object Grasping and Verification},
  year={2020},
  volume={5},
  number={4},
  pages={5993-6000},
  doi={10.1109/LRA.2020.3010440}
}