Open Cupboard Videos

We have written a ROS stack for detecting and opening cupboards of all types. The stack detects the cupboard handle, uses a combination of the move_arm package and interpolated IK to grasp the handle, and opens the cupboard using a combination of force and position control. We plan to release the stack on December 1, 2011 and will be documenting it on the ROS wiki.

• Video of the PR2 opening a cupboard with the cupboard handle on its right.
• Video of the PR2 opening a cupboard with the cupboard handle on its left.
• Video of the PR2 opening a toaster oven with the cupboard handle on the top.