baxtergv6_apc2016

baxtergv6_apc2016

Execute mimic APC2016 tasks with ARC2017 robot system (baxter with gripper-v6).

Installation

1. Install jsk_apc.
2. rosrun baxtergv6_apc2016 install_data

Pick Task Execution

roslaunch baxtergv6_apc2016 baxter.launch
roslaunch baxtergv6_apc2016 setup_for_pick.launch
roslaunch baxtergv6_apc2016 pick.launch json_dir:=$(rospack find baxtergv6_apc2016)/data/json/pick1

Stow Task Execution

roslaunch baxtergv6_apc2016 baxter.launch
roslaunch baxtergv6_apc2016 setup_for_stow.launch
roslaunch baxtergv6_apc2016 stow.launch json_dir:=$(rospack find baxtergv6_apc2016)/data/json/stow1

Citation

Webpage of the paper

@article{Hasegawa_2019jrm,
  title={A Three-Fingered Hand with a Suction Gripping System for Warehouse Automation},
  author={Shun Hasegawa and Kentaro Wada and Kei Okada and and Masayuki Inaba},
  journal={Journal of Robotics and Mechatronics},
  volume={31},
  number={2},
  pages={289-304},
  year={2019},
  doi={10.20965/jrm.2019.p0289}
}