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## 1. Overview

This package presents a complete software pipeline for picking thin,rigid objects. This perception-to-manipulation system for picking is fully autonomous system, incorporating visual perception module for obejct detection and localization with force/torque sensing module for environment perception. The manipulation module is the core component of the system, which is an implementation of **Tilt-and-Pivot** manipulaiton technique: a novel robotic object handling technique for picking thin objects lying on a flat surface through robotic dexterous, in-handmanipulation. Picking thin objects is an important manipulation capability with a wide range of pratical applications such as bin picking tasks, product packaging tasks.
This package presents a complete software pipeline for picking thin,rigid objects. This perception-to-manipulation system for picking is a fully autonomous system, incorporating visual perception module for obejct detection and localization with force/torque sensing module for environment perception. The manipulation module is the core component of the system, which is an implementation of **Tilt-and-Pivot** manipulaiton technique: a novel robotic object handling technique for picking thin objects lying on a flat surface through robotic dexterous, in-hand manipulation. Picking thin objects is an important manipulation capability with a wide range of pratical applications such as bin picking tasks, product packaging tasks.

This ROS package is directly applicable to an ordinary robotic setting featuring the conventional two- or three-fingered grippers installed on UR10 robot arm. This system is demonstrated to be used for picking a range of objects: acrylic borad, plastic container lid, paper carton and can be applied on bin picking problem, in which individual objects are picked one by one out of clutter.

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