This describes tools and systems for reproducing our implementation of the CoSTAR system on a KUKA LBR iiwa 14. The particular combination of the LBR iiwa and the Robotiq 3-finger gripper gives us a powerful range of capabilities.
We provide a model-based approach for hand-eye calibration.
We used the Robotiq kit for adapting a 3-finger gripper to a touch IO flange.
Image of marker placement in the robot:
Image of marker placement in rviz:
You can easily run the simulation with:
roslaunch costar_bringup iiwa_s_model.launch sim:=true
It may be helpful to launch different components separately:
roslaunch iiwa_gazebo iiwa_gazebo.launch trajectory:=false # simulation
roslaunch costar_bringup sim:=true start_sim:=false
To show a visualization:
roslaunch costar_bringup rviz.launch
The yellow grid is offset from the camera frame.