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Submodule .travis
updated
15 files
+17 −1 | .travis.yml | |
+42 −0 | CHANGELOG.rst | |
+2 −0 | CMakeLists.txt | |
+11 −0 | README.md | |
+3 −1 | docker.sh | |
+47 −0 | docker/Dockerfile.ros-ubuntu:20.04 | |
+5 −0 | docker/Dockerfile.ros-ubuntu:20.04-base | |
+14 −0 | docker/Dockerfile.ros-ubuntu:20.04-pcl | |
+16 −3 | docker/Makefile | |
+13 −6 | package.xml | |
+8 −0 | rosdep-install.sh | |
+5 −0 | test/test_env_var.py | |
+19 −0 | test/test_scipy.py | |
+34 −9 | travis.sh | |
+31 −20 | travis_jenkins.py |
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models/ |
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cmake_minimum_required(VERSION 2.8.3) | ||
project(dualarm_grasping) | ||
|
||
find_package(catkin REQUIRED | ||
dynamic_reconfigure | ||
jsk_recognition_msgs | ||
message_generation | ||
roseus | ||
std_msgs | ||
) | ||
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catkin_python_setup() | ||
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add_message_files( | ||
FILES | ||
GraspClassificationResult.msg | ||
) | ||
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||
add_service_files( | ||
FILES | ||
GetAnother.srv | ||
) | ||
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generate_messages( | ||
DEPENDENCIES | ||
std_msgs | ||
jsk_recognition_msgs | ||
) | ||
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# add_custom_target(${PROJECT_NAME}_install_models ALL COMMAND ${PROJECT_SOURCE_DIR}/scripts/install_models.py) | ||
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||
generate_dynamic_reconfigure_options( | ||
cfg/DualarmGraspSegmentation.cfg | ||
cfg/DualarmOccludedGraspInstanceSegmentation.cfg | ||
) | ||
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catkin_package( | ||
CATKIN_DEPENDS | ||
std_msgs | ||
jsk_recognition_msgs | ||
message_runtime | ||
) |
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# Advanced Robotics 2020: Selective dual-arm occluded grasping | ||
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||
## Download models | ||
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```bash | ||
rosrun dualarm_grasping install_models.py | ||
``` | ||
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## Sampling | ||
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### Setup | ||
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```bash | ||
roslaunch dualarm_grasping baxter.launch | ||
roslaunch dualarm_grasping setup_occluded_sampling.launch | ||
``` | ||
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||
Pass args for `first_sampling:=true` or `second_sampling:=true` | ||
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### Main Program | ||
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```bash | ||
roseus euslisp/sampling-grasp.l | ||
``` | ||
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## Execution (Cluster Grasping) | ||
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### Setup | ||
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```bash | ||
roslaunch dualarm_grasping baxter.launch | ||
roslaunch dualarm_grasping setup_occluded_picking.launch | ||
``` | ||
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### Main Program | ||
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```bash | ||
roseus euslisp/dualarm-grasp.l | ||
``` | ||
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## Execution (Target Grasping) | ||
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### Setup | ||
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```bash | ||
roslaunch dualarm_grasping baxter.launch | ||
roslaunch dualarm_grasping setup_occluded_picking.launch target_grasp:=true | ||
``` | ||
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### Main Program | ||
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||
```bash | ||
roseus euslisp/dualarm-grasp.l | ||
``` | ||
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## Evaluation (Target Grasping) | ||
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### Setup | ||
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||
```bash | ||
roslaunch dualarm_grasping baxter.launch | ||
roslaunch dualarm_grasping setup_occluded_test.launch target_grasp:=true | ||
``` | ||
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### Main Program | ||
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||
```bash | ||
roseus euslisp/test-grasp.l | ||
``` | ||
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## Citation | ||
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||
```bib | ||
@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 = {0}, | ||
number = {0}, | ||
pages = {1-19}, | ||
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} | ||
} | ||
``` | ||
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||
# IROS2018: Selective dual-arm grasping | ||
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## Download models | ||
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```bash | ||
rosrun dualarm_grasping install_models.py | ||
``` | ||
|
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## Sampling | ||
|
||
### Setup | ||
|
||
```bash | ||
roslaunch dualarm_grasping baxter.launch | ||
roslaunch dualarm_grasping setup_sampling.launch | ||
``` | ||
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Pass args for `first_sampling:=true` or `second_sampling:=true` | ||
|
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### Main Program | ||
|
||
```bash | ||
roseus euslisp/sampling-grasp.l | ||
``` | ||
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## Execution | ||
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### Setup | ||
|
||
```bash | ||
roslaunch dualarm_grasping baxter.launch | ||
roslaunch dualarm_grasping setup_picking.launch | ||
``` | ||
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### Main Program | ||
|
||
```bash | ||
roseus euslisp/dualarm-grasp.l | ||
``` | ||
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## Evaluation | ||
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### Setup | ||
|
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```bash | ||
roslaunch dualarm_grasping baxter.launch | ||
roslaunch dualarm_grasping setup_test.launch | ||
``` | ||
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### Main Program | ||
|
||
```bash | ||
roseus euslisp/test-grasp.l | ||
``` | ||
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## Citation | ||
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||
```bib | ||
@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}, | ||
} | ||
``` |
17 changes: 17 additions & 0 deletions
17
demos/selective_dualarm_grasping/cfg/DualarmGraspSegmentation.cfg
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#!/usr/bin/env python | ||
from dynamic_reconfigure.parameter_generator_catkin import double_t | ||
from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator | ||
from dynamic_reconfigure.parameter_generator_catkin import str_t | ||
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PACKAGE = "dualarm_grasping" | ||
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gen = ParameterGenerator() | ||
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gen.add('score_thresh', double_t, 0, 'Score thresh', 0.5, 0.0, 1.0) | ||
gen.add('grasp_thresh', double_t, 0, 'Grasp Score thresh', 0.3, 0.0, 1.0) | ||
gen.add('sampling_thresh', double_t, 0, 'Sampling Score thresh', 0.7, 0.0, 1.0) | ||
gen.add('grasping_way', str_t, 0, 'Grasping way', 'single') | ||
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exit(gen.generate(PACKAGE, PACKAGE, 'DualarmGraspSegmentation')) |
20 changes: 20 additions & 0 deletions
20
demos/selective_dualarm_grasping/cfg/DualarmOccludedGraspInstanceSegmentation.cfg
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#!/usr/bin/env python | ||
from dynamic_reconfigure.parameter_generator_catkin import double_t | ||
from dynamic_reconfigure.parameter_generator_catkin import ParameterGenerator | ||
from dynamic_reconfigure.parameter_generator_catkin import str_t | ||
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PACKAGE = "dualarm_grasping" | ||
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gen = ParameterGenerator() | ||
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gen.add('score_thresh', double_t, 0, 'Score thresh', 0.5, 0.0, 1.0) | ||
gen.add('grasp_thresh', double_t, 0, 'Grasp Score thresh', 0.3, 0.0, 1.0) | ||
gen.add('nms_thresh', double_t, 0, 'NMS thresh', 0.3, 0.0, 1.0) | ||
gen.add('vis_thresh', double_t, 0, 'Vis region ratio thresh', 0.8, 0.0, 1.0) | ||
gen.add('sampling_thresh', double_t, 0, 'Sampling Score thresh', 0.7, 0.0, 1.0) | ||
gen.add('grasping_way', str_t, 0, 'Grasping way', 'single') | ||
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exit(gen.generate( | ||
PACKAGE, PACKAGE, 'DualarmOccludedGraspInstanceSegmentation')) |
7 changes: 7 additions & 0 deletions
7
demos/selective_dualarm_grasping/config/baxter/occlusion_dataset/tote_marker.yaml
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boxes: | ||
- dimensions: [0.35, 0.6, 0.3] | ||
frame_id: base | ||
name: tote | ||
orientation: [0.006811395297589589, -0.02481966841912109, 0.014732206262089195, | ||
0.9995601788048162] | ||
position: [0.6535828113555908, 0.11746583878993988, -0.3259793519973755] |
7 changes: 7 additions & 0 deletions
7
demos/selective_dualarm_grasping/config/baxter/target_grasp/target_tote_marker.yaml
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boxes: | ||
- dimensions: [0.3499999940395355, 0.6000000238418579, 0.20999999344348907] | ||
frame_id: base | ||
name: target_tote | ||
orientation: [0.0070683994862820645, -0.02474772236333151, 0.004366822631185315, | ||
0.9996592013414559] | ||
position: [1.0436279773712158, 0.029123149812221527, -0.342985063791275] |
7 changes: 7 additions & 0 deletions
7
demos/selective_dualarm_grasping/config/baxter/target_grasp/tote_marker.yaml
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boxes: | ||
- dimensions: [0.35, 0.6, 0.21] | ||
frame_id: base | ||
name: tote | ||
orientation: [-0.005413727427457605, -0.02493861717018956, 0.011270340653429979, | ||
0.9996107924340031] | ||
position: [0.6436677575111389, 0.01432156190276146, -0.4225315749645233] |
7 changes: 7 additions & 0 deletions
7
demos/selective_dualarm_grasping/config/baxter/target_tote_marker.yaml
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boxes: | ||
- dimensions: [0.3499999940395355, 0.6000000238418579, 0.30000001192092896] | ||
frame_id: base | ||
name: target_tote | ||
orientation: [0.007238342304459111, -0.024698547601765104, -0.002504836958434969, | ||
0.9996656010581031] | ||
position: [1.0950188636779785, 0.032183099538087845, -0.35149049758911133] |
7 changes: 7 additions & 0 deletions
7
demos/selective_dualarm_grasping/config/baxter/tote_marker.yaml
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boxes: | ||
- dimensions: [0.30000001192092896, 0.5, 0.30000001192092896] | ||
frame_id: base | ||
name: tote | ||
orientation: [0.007238342304459111, -0.024698547601765104, -0.002504836958434969, | ||
0.9996656010581031] | ||
position: [0.7619464993476868, 0.021540701389312744, -0.4418632388114929] |
7 changes: 7 additions & 0 deletions
7
demos/selective_dualarm_grasping/config/pr2/target_grasp/target_tote_marker.yaml
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boxes: | ||
- dimensions: [0.35, 0.6, 0.21] | ||
frame_id: base_link | ||
name: target_tote | ||
orientation: [0.0070683994862820645, -0.02474772236333151, 0.004366822631185315, | ||
0.9996592013414559] | ||
position: [1.0621156692504883, 0.023430507630109787, -0.35995131731033325] |
7 changes: 7 additions & 0 deletions
7
demos/selective_dualarm_grasping/config/pr2/target_grasp/tote_marker.yaml
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boxes: | ||
- dimensions: [0.35, 0.6, 0.21] | ||
frame_id: base_link | ||
name: tote | ||
orientation: [0.006889725010306631, -0.02479804646037768, 0.011576424195440006, | ||
0.9996017081737498] | ||
position: [0.7192068696022034, 0.018723100423812866, -0.37579140067100525] |
7 changes: 7 additions & 0 deletions
7
demos/selective_dualarm_grasping/config/pr2/target_tote_marker.yaml
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boxes: | ||
- dimensions: [0.3499999940395355, 0.6000000238418579, 0.30000001192092896] | ||
frame_id: base_link | ||
name: target_tote | ||
orientation: [0.007238342304459111, -0.024698547601765104, -0.002504836958434969, | ||
0.9996656010581031] | ||
position: [1.0213091373443604, 0.016158416867256165, 0.7774733304977417] |
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boxes: | ||
- dimensions: [0.30000001192092896, 0.5, 0.30000001192092896] | ||
frame_id: base_link | ||
name: tote | ||
orientation: [0.007184166449114169, -0.045677434576014746, -0.00265622790454915, | ||
0.9989268762909047] | ||
position: [0.6855822801589966, 0.04986734688282013, 0.7560162544250488] |
30 changes: 30 additions & 0 deletions
30
demos/selective_dualarm_grasping/data/json/item_location_file.json
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{ | ||
"bins": [ | ||
{ | ||
"bin_id": "A", | ||
"contents": [] | ||
}, | ||
{ | ||
"bin_id": "B", | ||
"contents": [] | ||
}, | ||
{ | ||
"bin_id": "C", | ||
"contents": [] | ||
} | ||
], | ||
"boxes": [], | ||
"tote": { | ||
"contents": [ | ||
"avery_binder", | ||
"composition_book", | ||
"hanes_socks", | ||
"ice_cube_tray", | ||
"reynolds_wrap", | ||
"robots_dvd", | ||
"scotch_sponges", | ||
"table_cloth", | ||
"toilet_brush" | ||
] | ||
} | ||
} |
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