Welcome to Grasping Pipeline’s documentation!

The Grasping Pipeline implements a somewhat modular pipeline for grasping, placing and handing over objects with the Toyota HSR robot. The pipeline is implemented in Python and uses the Robot Operating System (ROS) for communication with the robot.

Note

This documentation is a work in progress.

Contents:

• 1. Installation
  • 1.1. Using the grasping pipeline docker image
  • 1.2. Manually installing the grasping pipeline and all its dependencies
• 2. Starting the grasping pipeline
  • 2.1. Turning on the robot
  • 2.2. Starting the grasping pipeline
• 3. Adding a new estimator or detector to the grasping pipeline
  • 3.1. Adding a new object detector
  • 3.2. Adding a new pose estimator
  • 3.3. Adding a new grasp pose estimator
  • 3.4. Updating the grasping pipeline config
• 4. Adding new objects to the grasping pipeline
• 5. Overview of the statemachine
  • 5.1. FindGrasp
  • 5.2. ExecuteGrasp
  • 5.3. RobotSetup
  • 5.4. Placement
  • 5.5. Handover
• 6. Detailed Description of the state machine
• 7. API
  • 7.1. collision_environment
  • 7.2. direct_grasppose_estimator
  • 7.3. execute_grasp_action_server
  • 7.4. find_table_planes
  • 7.5. grasp_annotator
  • 7.6. grasppose_estimator
  • 7.7. hsr_wrapper
  • 7.8. image_fetcher
  • 7.9. moveit_wrapper
  • 7.10. object_detector
  • 7.11. place
  • 7.12. pose_estimator
  • 7.13. robot_control
  • 7.14. statemachine_components
  • 7.15. statemachine_llm
  • 7.16. statemachine
  • 7.17. userinput
  • 7.18. visualizer

Indices and tables

• Index

• Module Index

• Search Page