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mobile_manipulation_rl package from opendr repo

opendr_bridge opendr_data_generation opendr_perception opendr_planning opendr_simulation opendr_interface mobile_manipulation_rl_demo franka_description panda_moveit_config single_demo_grasping_demo fmp_slam_eval map_simulator openslam_gmapping gmapping slam_gmapping mobile_manipulation_rl

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.0
License Apache2.0
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/opendr-eu/opendr.git
VCS Type git
VCS Version master
Last Updated 2025-01-29
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The Kinematic Feasibility RL package

Additional Links

Maintainers

  • Daniel Honerkamp

Authors

No additional authors.
src/opendr/control/mobile_manipulation/README.md

OpenDR Mobile Manipulation - Kinematic Feasibility

This folder contains the OpenDR Learner class for mobile manipulation tasks. This method uses reinforcement learning to train an agent that is able to control the base of a wheeled robot to ensure given end-effector motions remain kinematically feasible.

Sources

The implementation is based on Learning Kinematic Feasibility for Mobile Manipulation through Deep Reinforcement Learning. The environment and code are refactored and modularised versions of the originally published code.

The following ROS files located in robots_world are slight modifications of files originally provided by the following ROS packages:

  • hsr/hsr_analytical.launch: hsrb_moveit_config
  • pr2/pr2.urdf.xacro: pr2_description
  • pr2/pr2_analytical.launch: pr2_moveit_config
  • tiago/tiago_analytical.launch, tiago/modified_tiago.srdf.em, tiago/modified_tiago_pal-gripper.srdf: tiago_moveit_config
  • tiago/modified_gripper.urdf.xacro: pal_gripper_description
  • tiago/modified_wsg_gripper: pal_wsg_gripper_description
  • tiago/tiago.urdf.xacro, tiago/upload.launch: tiago__description
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
roscpp
rospy
std_msgs
cmake_modules
pybind11_catkin
catkin

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

  • robots_world/tiago/tiago_analytical.launch
      • robot [default: steel]
      • arm [default: $(eval {'iron': False}.get(arg('robot'), True))]
      • end_effector [default: $(eval {'iron': 'false', 'steel': 'pal-gripper', 'titanium': 'pal-hey5'}.get(arg('robot'), 'pal-gripper'))]
      • ft_sensor [default: $(eval {'titanium': 'schunk-ft'}.get(arg('robot'), 'false'))]
      • laser_model [default: false]
      • camera_model [default: false]
      • gzpose [default: -x 0 -y 0 -z 0.0 -R 0.0 -P 0.0 -Y 0.0]
      • multi [default: ]
      • model_name [default: tiago]
      • allow_trajectory_execution [default: false]
      • fake_execution [default: true]
      • max_safe_path_cost [default: 1]
      • jiggle_fraction [default: 0.05]
      • capabilities [default: ]
      • disable_capabilities [default: ]
  • robots_world/tiago/upload.launch
      • multi [default: ]
      • arm [default: True]
      • wrist_model [default: wrist-2017]
      • end_effector [default: pal-hey5]
      • ft_sensor [default: schunk-ft]
      • laser_model [default: sick-571]
      • camera_model [default: orbbec-astra]
      • no_safety_eps [default: False]
  • robots_world/pr2/pr2_analytical.launch
      • KINECT1 [default: $(optenv KINECT1 false)]
      • KINECT2 [default: $(optenv KINECT2 false)]
  • robots_world/hsr/hsr_analytical.launch
      • load_robot_description [default: true]
      • robot_description [default: robot_description]
      • upload_robot_model_launch [default: $(find mobile_manipulation_rl)/robots_world/hsr/upload_hsrb.launch]
      • robot_name [default: hsrb]

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mobile_manipulation_rl at Robotics Stack Exchange

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