6IMPOSE - Grasping

Graphical Control Interface for robotic grasping using 6D pose estimation. For more information, check 6IMPOSE

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Requirements

• Python 3.9
• FanucHardware Interface
• Connected Intel Realsense (L515 or D415)

Setup

• symlink 6IMPOSE repository to networks/pvn

Usage:

• Run GUI

python run_app.py

• Calibrate Eye-In-Hand (from GUI):
  • Generate Charuco Board and place it fixed on a table
  • Collect Data (either with 'Setup->Acquisition' or manually moving the robot and taking pictures)
  • Calibrate Camera
• Perform Grasping bin 'Bin Picking' Task (check starting poses in data/poses.py)
• Generate Grasp Poses for Objects:

python generate_grasp_poses.py [-h] OBJ_ID

• Visualize Grasp Poses:

python visualize_grasp_poses.py [-h] [--all] [--no-all] OBJ_ID