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portgasray / ur5_vision_pick

A Project that leading the Robot Arm to pick up the Coca Cola bins, with regards to the Intel Opensource Software and Self-Designed motor to trigger the Open/Close
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bin-picking grasping-detection opensource realsense2 robotics-control

readme

Introduction

A showcase of the project, transfer to 👉 https://portgasray.github.io/project/robot-grasp/

Vision

Algorithm. The Detection Algorithm is inherited the Benckmakr of Andreas ten Pas, named Grasp Pose Detection (GPD). GPD used a geometric way to generated the candidates of the grasp hypothesis.

Platform. The OpenViNO Toolkit from Intel. The RealSense camera is supported by this toolkit.

The Whole part of the vision demo can found at ros2_grasp_library with the latest version.

Manipulation

Hand-eye calibration. Although, you could find the tool of the calibration from Intel Corporation, we still encourage you to explore the basic one which start from our former steps. 👉 UR5 REALSENSE CALIBRATION

Here is the promotion!!! the CALIBRATION repository is tested by serveral experiments with the group members. The document well summarized the processing of the calibration, which is easy to used and plugin.

Moveit. The motion planing is hosting by the 3rd party.