Python interface to use Baxter, MoveIt! collision checker interface for Python, pouring script, FK/IK, optimizers, etc. lfd_trick supports ROS (Robot Operating System) architecture.

ROS: http://wiki.ros.org/

This is an implementation of our robot pouring work.

Akihiko Yamaguchi, Christopher G. Atkeson, and Tsukasa Ogasawara: Pouring Skills with Planning and Learning Modeled from Human Demonstrations, International Journal of Humanoid Robotics, Vol.12, No.3, pp.1550030, July, 2015.

Video: https://www.youtube.com/watch?v=GjwfbOur3CQ

Akihiko Yamaguchi, http://akihikoy.net/

TPR2Mannequin class (mannequin controller for PR2) in src/base/ros_rbt_pr2.py is based on a code implemented by Scott Niekum, originally it was stored in pr2_lfd_utils/src/recordInteraction.py.

CMA-ES (src/cma.py) is implemented by Nikolaus Hansen. Read src/CMA1.0.09-README.txt for more information.

Install following packages before building lfd_trick.

Binaries are available (you can use apt-get):

• ROS core system, rospy, roscpp, std_msgs, std_srvs, geometry_msgs, tf, ...
• Python: core, numpy
• ros-ROS_DISTR-moveit-full (ROS_DISTR: groovy, hydro, indigo, etc.)
• ros-ROS_DISTR-moveit-resources

Need to build from source (NOTE: read Requirements and Build of each package):

• lfd_vision: https://github.com/akihikoy/lfd_vision
• lfd_sim: https://github.com/akihikoy/lfd_sim

Working with Baxter/PR2 (OPTIONAL):

• Need some packages for Baxter/PR2
• Information would be found in: http://akihikoy.net/notes/?text

The repository directory should be in ROS workspace (e.g. ~/ros_ws/). Build lfd_trick with rosmake.

$ rosmake lfd_trick

After rosmake, you will find some executables in bin/ directory. There are some build directories made by ROS.

The core program is scripts/cui_tool.py. Execute it from the root directory of lfd_trick.

$ scripts/cui_tool.py

Note: roscore should be working beforehand. This program provides a CUI interface to execute sub scripts stored in scripts/motions/. This is useful since we can execute many programs without ROS reconnection to robots.

If robotic environment is not setup, it will just display:

NoRobot:trick or quit|L>

Type test.test and press the enter:

NoRobot:trick or quit|L> test.test
<core_tool.TCoreTool object at 0x4f37850>
Hello world!
Test.
  Usage: test [FLOAT_VALUE]

It executed scripts/motions/test/test.py (test. specifies a sub directory).

If a robot is ready (it also works with simulated robots), we can run robot control scripts. For example,

Baxter:trick or quit|L> keyctrl
Baxter:trick or quit|L> test.throw1

are a keyboard teleoperation program and a throwing a paper-plane program. test.throw1 works on Baxter only.

Use -help option to see a brief explanation of each script; e.g.

NoRobot:trick or quit|L> test.test -help
Test.
  Usage: test [FLOAT_VALUE]

The script pour is the robot pouring.

Some launch files are provided to execute PR2 and Baxter robots. The state validity checker is also launched.

Send e-mails to the author. I accept only from my students.