Merge pull request #2704 from pazeshun/install_pick_re-experiment

doc/jsk_arc2017_baxter/arc2017_pick_trial.rst

@@ -1,22 +1,41 @@
 ARC2017 Pick Task Trial on Real World
 =====================================
 
-Pick task trial on real world for ARC2017 can be done on ``baxter@sheeta``.
+Pick task trial on real world for ARC2017 can be done on ``baxter@baxter-c1``.
 
 - Prepare json.
 - Set objects in Shelf.
 
 .. code-block:: bash
 
   # Launch nodes to control robot.
-  baxter@sheeta $ roslaunch jsk_arc2017_baxter baxter.launch
+  baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter baxter.launch
 
   # Launch nodes in recognition pipeline for pick task.
-  baxter@sheeta $ roslaunch jsk_arc2017_baxter setup_for_pick.launch
+  baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter setup_for_pick.launch
 
   # optional: Check sanity.
-  baxter@sheeta $ rosrun jsk_2016_01_baxter_apc check_sanity_setup_for_pick
+  baxter@baxter-c1 $ rosrun jsk_2016_01_baxter_apc check_sanity_setup_for_pick
 
   # Run task!
-  baxter@sheeta $ roslaunch jsk_arc2017_baxter pick.launch json_dir:=$(rospack find jsk_arc2017_common)/data/json/sample_pick_task
+  baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter pick.launch json_dir:=$(rospack find jsk_arc2017_common)/data/json/sample_pick_task
+
+With Environment Imitating ARC2017 Pick Competition
+---------------------------------------------------
+
+Preparation
+^^^^^^^^^^^
+
+.. code-block:: bash
+
+  baxter@baxter-c1 $ rosrun jsk_arc2017_common install_pick_re-experiment
+
+Execution
+^^^^^^^^^
+
+.. code-block:: bash
+
+  baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter baxter.launch
+  baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter setup_for_pick.launch
+  baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter pick.launch json_dir:=$HOME/data/arc2017/system_inputs_jsons/pick_re-experiment/json
 

doc/jsk_arc2017_baxter/arc2017_stow_trial.rst

@@ -1,19 +1,19 @@
 ARC2017 Stow Task Trial on Real World
 =====================================
 
-Stow task trial on real world for ARC2017 can be done on ``baxter@sheeta``.
+Stow task trial on real world for ARC2017 can be done on ``baxter@baxter-c1``.
 
 - Prepare json.
 - Set objects in Tote.
 
 .. code-block:: bash
 
   # Launch nodes to control robot.
-  baxter@sheeta $ roslaunch jsk_arc2017_baxter baxter.launch pick:=false
+  baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter baxter.launch pick:=false
 
   # Launch nodes in recognition pipeline for stow task.
-  baxter@sheeta $ roslaunch jsk_arc2017_baxter setup_for_stow.launch
+  baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter setup_for_stow.launch
 
   # Run task!
-  baxter@sheeta $ roslaunch jsk_arc2017_baxter stow.launch json_dir:=$(rospack find jsk_arc2017_common)/data/json/sample_stow_task
+  baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter stow.launch json_dir:=$(rospack find jsk_arc2017_common)/data/json/sample_stow_task
 

doc/jsk_arc2017_baxter/state_machine.rst

@@ -12,7 +12,7 @@ Pick Task
 .. code-block:: bash
 
   # Run pick task with smach_viewer
-  baxter@sheeta $ roslaunch jsk_arc2017_baxter pick.launch json_dir:=$(rospack find jsk_arc2017_common)/data/json/sample_pick_task smach_viewer:=true
+  baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter pick.launch json_dir:=$(rospack find jsk_arc2017_common)/data/json/sample_pick_task smach_viewer:=true
 
 Stow Task
 ---------
@@ -22,4 +22,4 @@ Stow Task
 .. code-block:: bash
 
   # Run stow task with smach_viewer
-  baxter@sheeta $ roslaunch jsk_arc2017_baxter stow.launch json_dir:=$(rospack find jsk_arc2017_common)/data/json/sample_stow_task smach_viewer:=true
+  baxter@baxter-c1 $ roslaunch jsk_arc2017_baxter stow.launch json_dir:=$(rospack find jsk_arc2017_common)/data/json/sample_stow_task smach_viewer:=true

jsk_arc2017_common/scripts/download_pick_re-experiment.py

@@ -0,0 +1,20 @@
+#!/usr/bin/env python
+
+import os.path as osp
+
+import jsk_data
+
+
+def main():
+    path = osp.expanduser('~/data/arc2017/system_inputs_jsons/pick_re-experiment.zip')  # NOQA
+    jsk_data.download_data(
+        pkg_name='jsk_arc2017_common',
+        path=path,
+        url='https://drive.google.com/uc?id=16ebONejvSC3j6Zp-6nAjQJqT-VLS7j5X',
+        md5='55e64309cf88bde3752874e8f6d6d60d',
+        extract=True,
+    )
+
+
+if __name__ == '__main__':
+    main()

jsk_arc2017_common/scripts/install_pick_re-experiment

@@ -0,0 +1,13 @@
+#!/usr/bin/env bash
+
+set -x
+
+rosrun jsk_arc2017_common download_pick_re-experiment.py
+
+system_inputs=~/data/arc2017/system_inputs_jsons/pick_re-experiment/system_inputs
+
+ln -sf $system_inputs/objects/* $(rospack find jsk_arc2017_common)/data/objects/
+ln -sf $system_inputs/*.yaml $(rospack find jsk_arc2017_common)/config/
+ln -sf $system_inputs/FCN32s_iter00004800.npz $(rospack find jsk_arc2017_common)/data/models/fcn32s.npz
+
+set +x