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Only released in EOL distros:  

Package Summary

ias_drawer_executive opens drawers in the ias kitchen. the robot is driven to a hardcoded location that is know for each drawer. the right hand goes to a hardcoded joint state so that we see the ar toolkit marker on the drawer handle in the forearm camera. ik is then used to grasp at the marker, and the drawer is opened with some trajectory exploration, following the line of least resistance so to say.

Package Summary

ias_drawer_executive opens drawers in the ias kitchen. the robot is driven to a hardcoded location that is know for each drawer. the right hand goes to a hardcoded joint state so that we see the ar toolkit marker on the drawer handle in the forearm camera. ik is then used to grasp at the marker, and the drawer is opened with some trajectory exploration, following the line of least resistance so to say.

Package Summary

ias_drawer_executive opens drawers in the ias kitchen. the robot is driven to a hardcoded location that is know for each drawer. the right hand goes to a hardcoded joint state so that we see the ar toolkit marker on the drawer handle in the forearm camera. ik is then used to grasp at the marker, and the drawer is opened with some trajectory exploration, following the line of least resistance so to say.

Contents

Set of methods and algorithms for mobile manipulation (e.g. door opening, coordinated arm-base motions, inverse reachability, ..) for the PR2 robot. It is used in the demonstrations at TUM, such as the popcorn demo.


2019-09-14 12:45