SafePicking

Learning Safe Object Extraction via Object-Level Mapping

Kentaro Wada, Stephen James, Andrew J. Davison Dyson Robotics Laboratory, Imperial College London IEEE International Conference on Robotics and Automation (ICRA), 2022

Installation | Usage | Paper | Video | Website

Installation

Python project only

make install

source .anaconda3/bin/activate
./checks/check_motion_planning.py

ROS project

  • robot-agent: A computer with CUDA and a GPU installed for visual processing.
  • robot-node: A computer with a real-time OS for a Panda robot.

@robot-agent

make install
source .anaconda3/bin/activate

cd ros/
make install
source devel/setup.sh

@robot-node

cd ros/
source /opt/ros/noetic/setup.sh

catkin build morefusion_panda
rosrun morefusion_panda create_udev_rules.sh

catkin build safepicking_ros

Usage

Training & Inference

cd examples/picking/

# download pile files at ~/.cache/safepicking/pile_generation/
./download_piles.py

./train.py --model fusion_net --noise
./learned.py logs/XXX/weights/YYY

# use pretrained model
./download_pretrained_models.py

# inference in the test environments: ~/.cache/safepicking/pile_generation/00009000 - 00009999.pkl
./learned.py --weight-dir logs/20210709_005731-fusion_net-noise/weights/84500 \
             ~/.cache/safepicking/pile_generation/00009000.pkl

Robotic demonstration

robot-node  $ roslaunch safepicking_ros panda_control.launch

robot-agent $ roslaunch safepicking_ros setup.launch
robot-agent $ rosrun safepicking_ros safepicking_task_interface.py
>>> self.run([YcbObject.PITCHER])

Citation

@inproceedings{Wada:etal:ICRA2022a,
  title={{SafePicking}: Learning Safe Object Extraction via Object-Level Mapping},
  author={Kentaro Wada and Stephen James and Andrew J. Davison},
  booktitle={IEEE International Conference on Robotics and Automation (ICRA)},
  year={2022},
}

GitHub

View Github