grasp_primitiveShape

Overview

This repository is the implementation code of the paper "Using Synthetic Data and Deep Networks to Recognize Primitive Shapes for Object Grasping" (arXiv, Project, Video) by Lin et al. at IVALab, Gatech. The algorithm takes a depth image as input and predicts the best grasp of each object in the frame. We employ the PyTorch-version MaskR-CNN network developed by facebook and the rest of the framework is in Python and Matlab. In this repo, we provide our full implementation code of the data generation, data preprocessing and a modified version of the Mask R-CNN model.

Requirements

• Python 3.5
• PyTorch 1.1.0
• opencv 3.4.2
• numpy 1.15.2
• matplotlib
• tqdm
• scikit-image
• Cuda 9.0

We recommend you to use Anaconda to install the environment.

Basic Code Structure

• data_generation: the implementation of our data generation code
  • main_New.py: the main program
  • robot_New.py: the interactive program based on VREP remote API
  • main_calibration.py: for camera & background setup
  • shell_test.sh: shell script for starting the data generation process
  • shell.sh: shell script for multiprocessing
  • logger.py: logging function
  • utils.py: utility function from https://github.com/andyzeng/visual-pushing-grasping. Thank you Andy!
• data_COCOformat: convert data to COCO fomat for Mask R-CNN
  • coco_generate.py: convert data to COCO fomat for Mask R-CNN
  • compute_mean_ddd_255.py: compute the mean & std of data
• utils: utils function
  • coordinates.m: the primary coordinate conversion code from ROS to VREP simulation environment
  • preprocess_stretch_noise.py: simulation data corruption
• maskrcnn_test: a modified version of Mask R-CNN code developed by Facebook
  • demo: test on Kinect data
    • predictor_kinect.py: visulization function for kinect data
    • predictor.py: visulization function for simulation data
    • preprocess_kinect.py: the restoration program for the Kinect data
    • test.py: the main test program
• V-REP: downloaded VREP education program v. 3.6.2 with edited configuration

Usage

Data generation

Step:

1. Enter data_generation folder by running
   cd data_generation
2. Run the following command to generate data
   ./shell_test.sh
   (You can also use ./shell.sh to generate data in multiprocessing.)
   (You need to rename the output folder's name from e.g. 2020-01-05.17:16:44 to 0 in the logs folder.)
3. Copy the utils/preprocess_stretch_noise.py to the same level of the generated dataset folder then run it by
   python preprocess_stretch_noise.py (Note that the current preprocessing program deals with the data folders named with 0, 5000, 10000 to 100000, and divide them into 75000/25000 as training dataset and test dataset. You can modify the corresponding python scripts to customize your data.)
4. (Optional) You can also modify the VREP environment according to your case by running
   ./shell_get_environment.sh.
5. (Optional) You can also modify the design of the primitive shapes by first taking a look at the README.md in data_generation/objetcs/primitive_shapes/README.md

Data COCO format

Step:

1. You should first download and build the library from https://github.com/waspinator/pycococreator.git
2. Create a shortcut of the data folder then copy it to the data_COCOformat folder by running
   ln -s (data folder address) data_COCOformat
3. Enter data_COCOformat folder by running
   cd data_COCOformat
4. Run the following command to generate the coco style data index
   python coco_generate.py
5. Run the following command to calculate the mean & std of the training data
   python compute_mean_ddd_255.py

How to train/test on the simulation data

Step:

1. Enter maskrcnn_test folder by running
   cd maskrcnn_test
2. Follow the INSTALL.md to install the maskrcnn_benchmark repo
3. Modify the maskrcnn_benchmark/configs/paths_catalog.py to add the previous dataset address (Our proposed method use the same dataset address name. So you do not have to bother this step if you follow our data generation process.)
4. Add a config/XXX.yaml for your configuration, including solver, model, etc. Note that maskrcnn_benchmark/configs/defaults.py contains more parameters that you can edit.
5. Modify the train_net.py and test_net.py to add your configuration.
6. Run the following command for training or testing
   python train_net.py
python test_net.py

How to test on Kinect data

Step:

1. Copy the test data folder into demo folder. The test data folder should follow the following structure:
   XXX/0/depth_npy_0.npy, XXX/0/color_image_0.npy where XXX is the name of the test data folder; 0 refers to the order number of the experiments; depth_npy_0.npy is the point cloud file; color_image_0.png is the RGB ground truth image.
2. Modify the target test data folder in preprocess_kinect.py then run it by python preprocess_kinect.py
   (It will generate the processed depth image depth_img_0.png.)
3. Modify the target test data folder in test.py then run it by
   python test.py
   (It will generate the predicted mask label predict_mask_img_bin_XX_XX.png, predicted mask area predict_mask_img_black_white_XX_XX.png and the visualized result visualized_image_XX.png.)

Citations

Please cite grasp_primitiveShape if you use this repository in your publications:

@inproceedings{lin2020using,
  title={Using synthetic data and deep networks to recognize primitive shapes for object grasping},
  author={Lin, Yunzhi and Tang, Chao and Chu, Fu-Jen and Vela, Patricio A},
  booktitle={2020 IEEE International Conference on Robotics and Automation (ICRA)},
  pages={10494--10501},
  year={2020},
  organization={IEEE}
}

Licence

Licensed under the MIT License