KUKA iiwa model for grasping in Gazebo

Instructions for installing

1. Official KUKA iiwa repo

https://github.com/IFL-CAMP/iiwa_stack

2. Repo for robotiq grippers and MimicPlugin

https://github.com/ros-industrial/robotiq https://github.com/roboticsgroup/roboticsgroup_gazebo_plugins

3. Realsense model and plugin

https://github.com/be2rlab/myicub_ros/tree/master/models/realsense_camera https://github.com/pal-robotics/realsense_gazebo_plugin

4. Gazebo Grasp Plugin

https://github.com/JenniferBuehler/gazebo-pkgs

5. Segmentation

https://github.com/deyakovleva/yolact_ros

6. GPD repo

https://github.com/deyakovleva/gpd_ros

7. Contact-GraspNet repo

https://github.com/deyakovleva/contact_graspnet/tree/dev_ros

Usage

1. Run Gazebo and MoveIt

roslaunch iiwa_moveit moveit_planning_execution.launch

2. Run segmentation node

roslaunch launch/launch_them_all.launch

Run script for choosing object

python3 command_node.py

3.1) If you want to use Grasp Pose Detection run:

roslaunch gpd_ros ur5.launch

3.2) If you want to use Contact-GraspNet go https://github.com/deyakovleva/contact_graspnet/tree/dev_ros

There you'll find all the instructions.

4. Run manipulation node

roslaunch iiwa_manipulation ns_launch.launch

Results

Grasp Pose Detection

Sometimes GPD sets strange poses for grasping, so that only the best poses were chosen for video.

Contact-GraspNet

Scene

Grasp candidates

Manipulation