jsk_2020_04_carry_dish

Grasping dishes!

Syetem overview

Start now

mkdir my_ws/src -p
cd my_ws/src
git clone git@github.com:shmpwk/jsk_2020_04_carry_dish.git
catkin build

Example demo in simulator

• Recognize, grasp, carry and put dish

irt-viewer demo

roseus irt-demo.l

kinematics simulator demo

roseus kinematics-demo.l

gazebo demo

roslaunch common.launch
roseus pr2-tabletop-object-grasp-dual-success.l

Grasp learning

When training,

with real PR2 robot

• Here is sample collected data

  $ roslaunch jsk_2020_4_carry_dish realpr2_tabletop.launch
  $ roseus euslisp/grasp_sequence.l 
  $ roslaunch jsk_2020_4_carry_dish gazebo_clicked_box_edge.launch use_sim:=false gui:=false

with simulator

$ roslaunch jsk_2020_4_carry_dish common.launch
$ roseus euslisp/grasp_sequence.l 
$ roslaunch jsk_2020_4_carry_dish gazebo_clicked_box_edge.launch use_sim:=true gui:=false

Train the model

• Here is sample trained model

When the input image is rgbd

$ python ~/my_ws/src/jsk_2020_04_carry_dish/scripts/rgbd_grasp_system.py

When the input image is rgb

$ python ~/my_ws/src/jsk_2020_04_carry_dish/scripts/rgb_grasp_system.py

or

$ python ~/my_ws/src/jsk_2020_04_carry_dish/scripts/rgb_grasp_system_2.py

which depends on the dataset size.

You can check training loss by

$ tensorboard --logdir="Data/loss/[YOUR_FOLDER]" --load_fast=false

When inferrence,

$ roslaunch jsk_2020_4_carry_dish realpr2_tabletop.launch
$ roseus euslisp/test_grasp_sequence.l 
$ roslaunch jsk_2020_4_carry_dish gazebo_clicked_box_edge.launch use_sim:=false gui:=false

When using rgbd image,

$ python ~/my_ws/src/jsk_2020_04_carry_dish/scripts/test_rgbd_grasp_system.py 

When using rgb image,

$ python ~/my_ws/src/jsk_2020_04_carry_dish/scripts/test_rgb_grasp_system.py 

With moveit,

$ roslaunch jsk_2020_4_carry_dish realpr2_tabletop.launch
$ roseus euslisp/test_moveit_grasp_sequence.l 
$ roslaunch jsk_2020_4_carry_dish gazebo_clicked_box_edge.launch use_sim:=false gui:=false
$ python ~/my_ws/src/jsk_2020_04_carry_dish/scripts/test_multi_rgb_grasp_system_short.py
$ roslaunch jsk_pr2_startup start_pr2_moveit.launch USE_KINECT:=true USE_LASER_AND_KINECT:=false
$ roslaunch pr2_moveit_config moveit_rviz.launch config:=true
$ roslaunch wash_dish detect_dirt.launch

Demo

• Here is sample rosbag

  $ roslaunch jsk_2020_4_carry_dish realpr2_tabletop.launch
  $ roseus euslisp/grasp_move_sequence.l 
  $ roslaunch jsk_2020_4_carry_dish gazebo_clicked_box_edge.launch use_sim:=false gui:=false

  After finishing tidying up, stop eus program and then execute

  $ euslisp/pr2-tabletop-object-grasp-dual-tray-pick.l