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The Affordance Template ROS Package for Robot Task ProgrammingThis paper introduces the Affordance Template ROS package for quickly programming, adjusting, and executing robot applications in the ROS RViz environment. This package extends the capabilities of RViz interactive markers by allowing an operator to specify multiple end-effector waypoint locations and grasp poses in object-centric coordinate frames and to adjust these waypoints in order to meet the run-time demands of the task (specifically, object scale and location). The Affordance Template package stores task specifications in a robot-agnostic XML description format such that it is trivial to apply a template to a new robot. As such, the Affordance Template package provides a robot-generic ROS tool appropriate for building semi-autonomous, manipulation-based applications. Affordance Templates were developed by the NASA-JSC DARPA Robotics Challenge (DRC) team and have since successfully been deployed on multiple platforms including the NASA Valkyrie and Robonaut 2 humanoids, the University of Texas Dreamer robot and the Willow Garage PR2. In this paper, the specification and implementation of the affordance template package is introduced and demonstrated through examples for wheel (valve) turning, pick-and-place, and drill grasping, evincing its utility and flexibility for a wide variety of robot applications.
Document ID
Document Type
Conference Paper
Hart, Stephen (TRACLabs, Inc. Houston, TX, United States)
Dinh, Paul (Oceaneering Space Systems Houston, TX, United States)
Hambuchen, Kimberly (NASA Johnson Space Center Houston, TX, United States)
Date Acquired
January 16, 2015
Publication Date
January 1, 2015
Subject Category
Cybernetics, Artificial Intelligence and Robotics
Report/Patent Number
Meeting Information
2015 IEEE Internatinal Conference on Robotics and Automation (ICRA)(Seattle, WA)
Distribution Limits
Public Use Permitted.

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