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NVlabs / Deep_Object_Pose

Deep Object Pose Estimation (DOPE) – ROS inference (CoRL 2018)
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DOPE implementation on UR5 robotic arm #189

Open Suhail99 opened 3 years ago

Suhail99 commented 3 years ago

Hello @everyone, i am trying to implement the DOPE node on a UR5 robotic arm. My camera is fixed near the base of the robot and motion planning is done using MoveIt! However, to apply DOPE on the UR5 arm, I assume there has to be a node which controls the robot and gives the pose of the object placed, to the end effector and then my robot grasps that object. (It is about the interface of reading the output data generated by DOPE in ROS and then the robot arm taking the action) Can anyone guide me how can I solve this issue? Does anyone have a node already generated that helps communicate DOPE with UR5 arm? I'm a beginner in this area. Your help and guidance will be highly appreciated. Thanks in advance

mintar commented 3 years ago

Here are the ROS packages for our robot "Mobipick":

https://github.com/DFKI-NI/mobipick

It has an UR5 arm and a MiR robot base. You should be able to adapt our mobipick_pick_n_place.cpp demo for your purposes: Remove all the parts that have to do with moving the base etc., remove all the non-UR5 stuff from the URDF description, and regenerate the mobipick_moveit_config package using moveit_setup_assistant.

Here's where we use the DOPE object detections for grasping: mobipick_pick_n_place.cpp#L309.

There's also a Gazebo simulation (mobipick_gazebo). Launch files for the real robot are in mobipick_bringup.

Suhail99 commented 3 years ago

When I clone, 'git clone -b melodic git@git.ni.dfki.de:mobipick/mobipick.git', it asks me for password "git@git.ni.dfki.de's password: "

mintar commented 3 years ago

You should replace git@git.ni.dfki.de:mobipick/mobipick.git with https://github.com/DFKI-NI/mobipick.git. Also, the branch should be noetic, not melodic.