Procedure to start data collection

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fhogan edited this page Oct 23, 2017 · 1 revision

Before starting data collection, please go through following steps:

0. Make sure no objects are in tote while starting pman run real

1. Run `pman`, then `run_real` script.

2. Check Rviz:

Robot display (can you see it properly?)
Gripper display (can you see it properly?)
gelsight image (test: print with fingertip and check rviz for response)
Realsense 0 image (can you see it properly?)
Realsense 1 image (can you see it properly?)

2. Hardware unit test:

Run command 7-start_gui

Test depth of camera in bin 0: start lasers 0 and stop lasers 0 (Can you see Depth 0 image in RViz?)
Test depth of camera in bin 1: start lasers 1 and stop lasers 1 (Can you see Depth 1 image in RViz?)
run gripper close
run gripper open
run spatula close
run spatula open
test passive vision (Do you see point cloud and grasp proposals in RViz?)

3. Run planner

In terminal, run

python planner_grasp.py

4. Check saved data

After a complete grasp, open rgraspdata folder and verify that all data has been properly recorded.

5. Leave experiment comments in calendar.