OpenRAVE Amazon Picking Challenge Environment

APC Environment

A collection of Amazon Picking Challenge (APC) objects/products and the “Kiva Pod” (i.e the shelf used in the competition) for OpenRAVE.

A Python script is also provided to create a simple randomise environment. Due to time constraints, the script is a quick solution of placing objects to different locations on the shelf, however is not perfect. Feel free to contribute and improve the code.

The script also provide a functionality to export a randomise environment to a static XML file.

References

Objects/Products KinBodies: Thanks to Arjun Singh, Karthik Narayan, Ben Kehoe, Sachin Patil, Ken Goldberg and Pieter Abbeel from the Robot Learning Lab, UC Berkeley: http://rll.berkeley.edu/amazon_picking_challenge/.
Kiva Pod (Shelf): Thanks to http://pwurman.org/amazonpickingchallenge/2015/gazebo_pod.shtml?.

Contributors

This work was developed by the Robot Manipulation Lab in the School of Computing at the University of Leeds. This work is initially developed and maintained by Rafael Papallas.