IRI ROS Estirabot
From WikIRI
Overview
Estirabot is a robot based on a WAM arm and a Barret Hand designed to work with deformable objects like clothing.
The player will show in this paragraph
Basic usage
It will start hardware (arm and hand) management, sealing kinect and grasp habilities.
roslaunch estirabot_base estirabot_base.launch
Stack and packages
- Estirabot
- estirabot_apps
- Demos and experiments done with the Estirabot robot
- estirabot_base
- Launch and config files for starting the robot
- estirabot_msgs
- Custom MSG used by Estirabot robot
- iri_grasp_actions
- Code and nodes for implement grasp habilities in the Estirabot
Experiments
Robot Base Skills
- Move the ARM to a position
- Description: ask the robot to move the arm to a given position.
- ROS interface: SERVICE estirabot/move_in_xyzquat
- Input: MSG geometry_msgs/pose
- Output: MSG int success
- Grasp an object
- Description: ask robot for grasp in a point. We are different from robots with a gripper (like PR2) because we can set up a finger configuration for the moment of grasp.
- ROS interface: ACTION object_manipulation_msgs/PickupAction
- Input: MSG object_manipulation_msgs/PickupActionGoal.msg + Param server to control finger closing action.
- Output: MSG object_manipulation_msgs/PickupActionResult.msg
- Place a grasped object
- Description: ask the robot to place the object grasped
- ROS interface: ACTION object_manipulation_msgs/PlaceAction
- Input: MSG object_manipulation_msgs/PlaceActionGoal.msg
- Ouput: MSG object_manipulation_msgs/PlaceActionResult.msg
Robot Aditional Skills
- Perform a full analysis of a deformable object
- Description: ask robot for a full analysis over a deformable object. Analisys is currently composed by two parts: Grasp and Learning.
- ROS interface: SERVICE iri_deformable_analysis/DoDeformableAnalisys
- Input : PointCloud2 + Score Fusion criteria ID
- Output: MSG iri_deformable_analysis/DeformableAnalisys
- Perform a grasp analysis of a deformable object
- Description: perform a grasp analysis over a PointCloud
- ROS interface: (not isolated yet) SERVICE estirabot/do_deformable_analysis
- Input : MSG sensors_msg/PointCloud2
- Output: MSG estirabot/DeformableGrawpAnalysis (wich holds a iri_deformable_analysis/DeformableGrapsAnalysis)
- Perform a learning analysis of a deformable object
- Description: perform a learning algorithm over a PointCloud
- ROS interface: (not isolated yet) SERVICE estirabot/do_deformable_analisys
- Input : MSG sensors_msg/PointCloud2
- Output: MSG iri_deformable_analysis/DeformableLearningAnalysis
