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manipulation.html
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<!DOCTYPE HTML>
<!--
Hyperspace by HTML5 UP
html5up.net | @ajlkn
Free for personal and commercial use under the CCA 3.0 license (html5up.net/license)
-->
<html>
<head>
<title>Manipulation</title>
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<h1 class="major">HSR Manipulation</h1>
<span class="image left"><img src="images/manipulation_flow.png" alt="" /></span>
<p>
The manipulation stack incorporates grasp synthesis directly on target object point clouds, including efficient point cloud filtering and segmentation.
We use Grasp Pose Detection(GPD) for grasp pose synthesis, giving us the
6-dimensional pose of approach for the highest quality grasp generated
Click on the button below to see our HSR grasping a potted plant!
</p>
<ul class="actions">
<li><a href="https://youtu.be/Rtshym0Aj7o" class="button">Click here to youtube video</a></li>
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<p>
Here is a brief description of how the manipulation system goes from seeing the object to grasping it:
</p>
<p>
Given the object’s 3D pose provided by the our object detection system, the manipulation system
segments the object’s point cloud out of the point cloud input and feeds it into
the grasp synthesis module. This module then returns a ranked list of feasible
candidate poses for the end effector to approach from. Accordingly, the system
moves to the highest-ranked end effector pose to attempt to grasp the object
while avoiding collisions. Motion control for the HSR arm and gripper is done
via the Toyota joint motion control interface.
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