Airship_grasp

This module is a grasping system that integrates RGB and depth data from a camera to enable precise object manipulation. It utilizes a segmentation service to identify relevant objects and a grasp pose estimation algorithm to select the optimal grasping point, facilitating the automation of pick-and-place operations with a robotic arm.

Airship_grasp API Overview

grasp_server_node

• default config: airship_grasp/config/airship_grasp_config.yaml
  1. Service
  • /airship_grasp/grasp_server: Provides a service for the planner to invoke for picking object or placement.
  • /airship_perception/SegmentationGrasping: Provides a service to the grasping node for acquiring object’s mask. 2. Parameters
  • fx,fy,cx,cy: D435i camera intrinsic.(Default: none)
  • image_width: The image width of depth and color images.(Default: none)
  • image_height: The image height of depth and color images.(Default: none)
  • depth_scale: The conversion factor between the depth values and the actual physical distance.(Default: 1000.0)
  • model_checkpoint_path: The path to the weight files for the GraspNet module.(Default: ‘/home/airsbot2/airsbot2_grasp/grasp_test/src/airship_grasp/lib/Scale_Balanced_Grasp/logs/log_full_model/checkpoint.tar’)
  • expand_mask_height: The height of the area selected around the object mask.(Default: none)
  • expand_mask_width:The width of the area selected around the object mask.(Default: none)
  • num_points: The maximum number of points recovered from the depth image.(Default: 20000)
  • num_grasp_pose: The number of preliminary selected grasp poses.(Default: 10)
  • ip: The IP address of the elephant robot.(Default: none)
  • port: The port of the elephant robot.(Default: 9000)
  • arm_maximum_reach: The maximum distance of objects that the Elephant Robot can grasp.(Default: 380)
  • max_angle_select: The maximum value of the yaw angle for the final grasp pose selection.(Default: -60)
  • min_angle_select: The minimum value of the yaw angle for the final grasp pose selection.(Default: -120)
  • cam2real_gripper_xyzrpy: The transformation between the camera and the gripper coordinates.(Default: none)
  • est2virtual_gripper_xyzrpy: The transformation between the assumed coordinate for GraspNet and the actual coordinate system of the real gripper.(Default: [0.04, 0.0, 0.0, 90.0, 0.0, 90.0])
  • debug_mode：The visualization window used for debugging the grasping results of GraspNet.(Default: False)

To Do List

• Optimize the grasp pose estimation algorithm.
• Adaptively select the area surrounding the mask for grasp pose selection.
• Consider the future handling of soft objects and adjust the gripper adaptively for grasping.