Awesome
GG-CNN + Multi-View Picking
This repository contains the implementation of the Multi-View Picking system and experimental code for running on a Franka Emika Panda Robot from the paper:
Multi-View Picking: Next-best-view Reaching for Improved Grasping in Clutter
Douglas Morrison, Peter Corke, Jürgen Leitner
International Conference on Robotics and Automation (ICRA), 2019
For more information about GG-CNN, see this repository or this arXiv paper.
If you use this work, please cite the following as appropriate:
@inproceedings{morrison2019multiview,
title={{Multi-View Picking: Next-best-view Reaching for Improved Grasping in Clutter}},
author={Morrison, Douglas and Corke, Peter and Leitner, J\"urgen},
booktitle={2019 IEEE International Conference on Robotics and Automation (ICRA)},
year={2019}
}
@inproceedings{morrison2018closing,
title={{Closing the Loop for Robotic Grasping: A Real-time, Generative Grasp Synthesis Approach}},
author={Morrison, Douglas and Corke, Peter and Leitner, J\"urgen},
booktitle={Proc.\ of Robotics: Science and Systems (RSS)},
year={2018}
}
Contact
Any questions or comments contact Doug Morrison.
Setup
Hardware:
This code is designed around a Franka Emika Panda robot using an Intel Realsense D435 camera mounted on the wrist. A 3D-printalbe camera mount is available in the cad
folder. DYMO M10 scales are used to detect grasp success (Optional. See the scales_interface directry for more information).
The following external packages are required to run everything completely:
Installation:
Clone this repository into your ROS worksapce and run rosdep install --from-paths src --ignore-src --rosdistro=<your_rosdistro> -y
and then catkin_make
/catkin build
.
Local python requirements can be installed by:
pip install -r requirements.txt
Packages Overview
dougsm_helpers
: A set of common functions for dealing with ROS and TF that are used throughout.scales_interface
: A simple interface to a set of DYMO scales for reading weight.ggcnn
: Service and Node for running GG-CNN. Provides twofranka_control_wrappers
: Add a simple velocity controller node and MoveIt commander for controlling the Panda robot.mvp_grasping
: ROS nodes for executing grasps using the Multi-View Picking approach, including baselines.
Running
To run grasping experiments:
# Start the robot and required extras.
roslaunch mvp_grasping robot_bringup.launch
# Start the camera, depth conversion and static transform
roslaunch mvp_grasping wrist_realsense.launch
# # Start the scales interface (disabled by default, useful if you have compatible scales)
# roslaunch scales_interface scales.launch
# Start the Multi-View Picking backend
roslaunch mvp_grasping grasp_entropy_service.launch
## Execute Grasping Experiment
# For Multi-View Picking
rosrun mvp_grasping panda_mvp_grasp.py
# For Fixed data-collection baseline
rosrun mvp_grasping panda_fixed_baseline.py
# For single-view open-loop grasping baseline
roslaunch ggcnn ggcnn_service.launch
rosrun mvp_grasping panda_open_loop_grasp.py
Configuration
While this code has been written with specific hardware in mind, different physical settings or cameras may be used by customising ggcnn/cfg/ggcnn_service.yaml
and mvp_grasping/cfg/mvp_grasp.yaml
.
New robots and cameras will require major changes.