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selective_dualarm_grasping

README.md

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},
}