PGR-A
PGR-A: Parallel Grasp Region Affordance-based 6DOF Novel Objects Grasping in Clutter
In piled 5 objects grasping task:
Experimental environment installation and steps
Install
- Clone pointnet++: https://github.com/erikwijmans/Pointnet2_PyTorch.git
cd Pointnet2_PyTorch && pip3 install -r requirements.txt
- install pytorch_6dof-graspnet
cd pytorch_6dof-graspnet
pip3 install -r requirements.txt
- install UnseenObjectClustering
pip3 install -r requirement.txt
- install OMPL RRT
- Download the OMPL installation script
chmod u+x install-ompl-ubuntu.sh
./install-ompl-ubuntu.sh --python #will install the latest release of OMPL with Python bindings
ref:https://ompl.kavrakilab.org/installation.html
Steps
ARM driver&control
- bring up TM5_900
- sophia_test
TM5_900 driver
roslaunch tm_driver tm5_900_bringup.launch
send robot path to controller
surgery
rosrun sophia_test tm_move2target_line
Unseen segmentation
- realsense
- experiment
- rviz
realsense
roslaunch realsense2_camera rs_aligned_depth.launch tf_prefix:=measured/camera enable_pointcloud:=true
experiment
cd UnseenObjectClustering/
./experiments/scripts/ros_seg_rgbd_add_test_segmentation_realsense.sh 0
rviz
cd UnseenObjectClustering/
rosrun rviz rviz -d ./ros/segmentation.rviz
TF
rosrun tf2_ros static_transform_publisher -0.0384158789508 0.0966652170148 0.0191344123493 -0.0204705916742 -0.00662923347538 0.00412111005824 0.999759983492 /tool0 /measured/camera_depth_optical_frame
rosrun tf2_ros static_transform_publisher 0 0 0 3.14 0 0 /measured/camera_depth_optical_frame /measured/camera_grasp_frame
Gripper
new
sudo chmod 777 /dev/ttyUSB1
rosrun robotiq_2f_gripper_control Robotiq2FGripperRtuNode.py /dev/ttyUSB1
picking
rosrun tm_reflexxes2 tm_demo_picking_pose
start
gopen0/gopen/gclose
6dof
- 6dof_graspnet
cd pytorch_6dof-graspnet
PYTHONPATH=/home/po/TM5_900/pytorch_6dof-graspnet python3 demo/main_npy_socket.py
affordance
- affordance
cd Pointnet_Pointnet2_pytorch
python3 affordance.py
or
python3 affordance_ten.py
demo
python3 demo.py --npy_name box_v1
or
python3 demo.py --npy_name ch_v1 --choose_closest True --task knn_mask_fast
or
python3 demo.py --npy_name test1 --choose_closest True --task knn_mask_fast