How to grasp a cup by PR2 on simulations?

asked 2012-01-11 00:39:37 -0600

sam
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updated 2014-11-22 17:05:11 -0600

ngrennan
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I want to run some complicated scenarios on simulations,such as pr2 grasp a cup or similar scenarios.

Where can I start?

Thank you~

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answered 2012-01-12 04:54:30 -0600

hsiao
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In electric, you can use pr2_interactive_manipulation: http://www.ros.org/wiki/pr2_interactive_manipulation .
Use 'roslaunch pr2_interactive_manipulation pr2_manipulation_gazebo.launch' to start a sim of a robot with a can on a table in front of it.
Then run 'roslaunch pr2_interactive_manipulation pr2_interactive_manipulation_robot.launch stereo:=true' to start up all the manipulation stacks and such, and 'roslaunch pr2_interactive_manipulation pr2_interactive_manipulation_desktop.launch stereo:=true' to start rviz with relevant topics and such.

The documentation on how to use it is a bit out of date; look at this wiki page for a more up-to-date description: http://www.ros.org/wiki/robhum/grasping

For coding your own autonomous stuff, look at http://www.ros.org/wiki/pr2_tabletop_manipulation_apps/Tutorials/Writing%20a%20Simple%20Pick%20and%20Place%20Application for C++ and http://www.ros.org/wiki/pr2_pick_and_place_demos/Tutorials/A%20Simple%20Pick%20And%20Place%20Example%20Using%20The%20Pick%20And%20Place%20Manager for python.

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Did the pr2_manipulation_gazebo.launch file move? It doesn't appear to be in pr2_interactive_manipulation anymore. I'm running electric. https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/branches/0.5-branch/applications/pr2_interactive_manipulation/launch/

David Lu ( 2012-04-02 23:03:23 -0600 )edit

Nevermind. Found it in trunk. https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/trunk/applications/pr2_interactive_manipulation/launch/

David Lu ( 2012-04-02 23:07:00 -0600 )edit

oops, didn't comment in the right place. See my post below.

hsiao ( 2012-04-03 08:19:01 -0600 )edit

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answered 2012-04-03 08:17:50 -0600

hsiao
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Ergh. You probably shouldn't be using trunk right now--trunk is now trying to be Fuerte-compatible, except a lot of stuff is not working yet.

That launch has been moved to the package manipulation_worlds, which now has a whole selection of interesting worlds for manipulating stuff in Gazebo in Electric: https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_object_manipulation/branches/0.5-branch/applications/manipulation_worlds pr2_table_object.launch is equivalent to the old pr2_manipulation_gazebo.launch.