Overview

This package contains launch files for the opencupboard stack.

• opendoors_executive.launch begins the detection and grasping servers and the force controller for the arms.

Launch files more specific to the action are located in those packages. These include

• opencupboard_launch/yaml/(your cabinet's yaml).yaml: Loads the yaml file you write with the parameters for the cupboard you are opening.

• pr2_tabletop_manipulation_launch/launch/pr2_tabletop_manipulation.launch: Loads tabletop manipulation used in detection.

• ee_cart_imped_launch/launch/load_ee_cart_imped.launch: Loads the force controller for the arms

• opencupboard_launch/launch/open_toaster.launch: specially made for the bakebot demo

• grasp_handle.py: Begins the action for the handle grasping
• door_processing_server: Begins the server to detect the door
• object_processing_server: Begins the server to detect the handle
• open_cupboard.py: Begins the action to open the cupboard