How to get a CAD model for training DOPE

NVIDIA-ISAAC-ROS / isaac_ros_pose_estimation

Deep learned, NVIDIA-accelerated 3D object pose estimation

https://developer.nvidia.com/isaac-ros-gems

Apache License 2.0

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How to get a CAD model for training DOPE #25

Closed Guptajakala closed 9 months ago

Guptajakala commented 1 year ago

Hi, thanks for the great work! I'm eagerly interested in using Isaac ROS for my robot manipulation. I have some objects (other than YCB objects) whose CAD models cannot be found online. Is there any easy way to get such a model to train DOPE? Or is there any way to bypass such input?

gordongrigor commented 1 year ago

Great question! Typically a object is scanned into a 3D model using photogrammetry, or another technique.

If that's not an option, you can see if there is a existing model of the object in the assets for Isaac SIM, pubic model sets, or in a model marketplace (i.e. TurboSquid, Sketchfab).