mlzxy
commented
1 week ago Hi,
Thanks for reaching out. Honestly the hardware spec. does not matter as long as you have RGBD camera 😂 because the hardware experiment is just a pick and place task. I will explain a little more.
First, we have an empty space with clean background, and use SAM to automatically extract the mask (by clicking certain fixed locations). Then, extract prototypes based on the given mask, and run detection on a new scene. All objects of that class will be picked sequentially. The pick and place procedure only requires a proper grasp pose, which you can generate from the object point cloud (cropped by the instance segmentation mask) with GPG https://github.com/atenpas/gpg or more advanced tools. The grasp pose does not depend on the robot arm. The prototype extraction and detection part is the same as in the YCB demo.
Unfortunately I don’t have plans to organize and release that part of the code though.
Best, Xinyu
On Oct 9, 2024 at 8:57:55 AM, Ashwin Murali @.***> wrote:
HI @mlzxy https://github.com/mlzxy ,
Could you please mention the hardware spec. of the system used for the "Real Robot Experiment" in the paper? Since that produced instant results, it would be helpful to know and reciprocate the same in our use-case too.
Many Thanks,
Best,
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HI @mlzxy ,
Could you please mention the hardware spec. of the system used for the "Real Robot Experiment" in the paper? Since that produced instant results, it would be helpful to know and reciprocate the same in our use-case too.
Many Thanks,
Best,