├── .github ├── ISSUE_TEMPLATE │ ├── bug_report.md │ ├── config.yml │ └── feature_request.md ├── PULL_REQUEST_TEMPLATE.md └── workflows │ ├── jira-link.yaml │ ├── pre-commit.yaml │ └── stale.yaml ├── .gitignore ├── .gitmodules ├── .pre-commit-config.yaml ├── .yamato └── sonar.yml ├── CHANGELOG.md ├── CODE_OF_CONDUCT.md ├── CONTRIBUTING.md ├── Documentation ├── 0_ros_setup.md ├── 1_set_up_the_scene.md ├── 2_set_up_the_data_collection_scene.md ├── 3_data_collection_model_training.md ├── 4_pick_and_place.md ├── 5_more_randomizers.md ├── Gifs │ ├── 0_demo.gif │ ├── 1_URDF_importer.gif │ ├── 1_import_prefabs.gif │ ├── 1_package_imports.gif │ ├── 1_package_imports_short.gif │ ├── 1_robot_settings.gif │ ├── 1_rp_materials.gif │ ├── 2_aspect_ratio.gif │ ├── 2_light_randomizer.gif │ ├── 2_object_position_randomizer.gif │ ├── 2_robot_randomizer_settings.gif │ ├── 2_y_rotation_randomizer.gif │ ├── 2_y_rotation_randomizer_settings.gif │ ├── 4_trajectory_field.png │ └── 5_camera_randomizer.gif ├── Images │ ├── 0_GIT_installed.png │ ├── 0_data_collection_environment.png │ ├── 0_json_environment.png │ ├── 0_scene.png │ ├── 1_URDF_importer.png │ ├── 1_alphabet_material.png │ ├── 1_assets_preview.png │ ├── 1_build_support.png │ ├── 1_camera_settings.png │ ├── 1_create_new_project.png │ ├── 1_directional_light.png │ ├── 1_floor_settings.png │ ├── 1_forward_renderer.png │ ├── 1_forward_renderer_inspector.png │ ├── 1_hierarchy.png │ ├── 1_install_unity_version_1.png │ ├── 1_install_unity_version_2.png │ ├── 1_package_manager.png │ ├── 1_package_manager_complete.png │ ├── 1_robot_settings.png │ ├── 1_scene_overview.png │ ├── 1_set_solver_type.png │ ├── 2_Pose_Estimation_Data_Collection.png │ ├── 2_RobotArmReachablePositionRandomizerSetting.png │ ├── 2_cube_label.png │ ├── 2_domain_randomization.png │ ├── 2_final_perception_script.png │ ├── 2_fixed_length_scenario.png │ ├── 2_light_randomizer_settings.png │ ├── 2_multiple_objects.png │ ├── 2_perception_camera.png │ ├── 2_scenario_auto.png │ ├── 2_tags.png │ ├── 2_tutorial_id_label_config.png │ ├── 2_y_rotation_randomizer.png │ ├── 3_data_logs.png │ ├── 3_output_path.png │ ├── 3_performance_model.png │ ├── 3_publish_object.png │ ├── 3_saved_data.png │ ├── 3_tensorboard.png │ ├── 4_Pose_Estimation_ROS.png │ ├── 4_ROS_objects.png │ ├── 4_docker_daemon.png │ ├── 4_ros_connect.png │ ├── 4_ros_settings.png │ ├── 4_terminal.png │ ├── 4_trajectory_field.png │ ├── 5_uniform_pose_randomizer_settings.png │ ├── button_error.png │ ├── cube_environment.png │ ├── faq_base_mat.png │ ├── path_data.png │ └── unity_motionplan.png ├── install_unity.md ├── quick_demo_full.md ├── quick_demo_train.md └── troubleshooting.md ├── LICENSE ├── Model ├── .gitignore ├── Dockerfile ├── README.md ├── config.yaml ├── documentation │ ├── codebase_structure.md │ ├── docs │ │ ├── docker_id_image.png │ │ ├── docker_settings.png │ │ ├── jupyter_notebook_local.png │ │ ├── kubeflow_details_pipeline.png │ │ ├── network.png │ │ ├── performance_model.png │ │ ├── successful_run_jupyter_notebook.png │ │ └── tensorboard.png │ ├── running_on_docker.md │ ├── running_on_the_cloud.md │ └── tensorboard.md ├── environment-gpu.yml ├── environment.yml ├── kubeflow │ ├── README.md │ ├── evaluate_pipeline.py │ └── train_pipeline.py ├── pose_estimation │ ├── __init__.py │ ├── __init__.pyc │ ├── cli.py │ ├── evaluate.py │ ├── evaluation_metrics │ │ ├── __init__.py │ │ ├── orientation_average_quaternion_error.py │ │ └── translation_average_mean_square_error.py │ ├── logger.py │ ├── model.py │ ├── pose_estimation_estimator.py │ ├── single_cube_dataset.py │ ├── storage │ │ ├── __init__.py │ │ ├── checkpoint.py │ │ ├── download.py │ │ ├── exceptions.py │ │ ├── gcs.py │ │ └── kfp_output.py │ └── train.py ├── setup.py └── tests │ ├── config │ └── test_config.yaml │ ├── test_average_orientation_quaternion_error.py │ ├── test_average_translation_mean_square_error.py │ ├── test_evaluate.py │ ├── test_linear_normalized_activation.py │ ├── test_single_cube_dataset.py │ ├── test_single_cube_dataset │ ├── Datasetbbde242f-b4c3-4111-8b74-219b67a06d92 │ │ └── captures_000.json │ ├── Logs │ │ └── heartbeat.txt │ └── RGB34ff62fd-df0e-490e-b001-79fbe1ac1a7d │ │ ├── rgb_10.png │ │ ├── rgb_11.png │ │ ├── rgb_2.png │ │ ├── rgb_3.png │ │ ├── rgb_4.png │ │ ├── rgb_5.png │ │ ├── rgb_6.png │ │ ├── rgb_7.png │ │ ├── rgb_8.png │ │ └── rgb_9.png │ └── test_train.py ├── PoseEstimationDemoProject ├── .gitignore ├── Assets │ ├── IdLabelConfig.asset │ ├── IdLabelConfig.asset.meta │ ├── Readme.asset │ ├── Readme.asset.meta │ ├── Resources.meta │ ├── Resources │ │ ├── ROSConnectionPrefab.prefab │ │ └── ROSConnectionPrefab.prefab.meta │ ├── Scenes.meta │ ├── Scenes │ │ ├── TutorialPoseEstimation.unity │ │ └── TutorialPoseEstimation.unity.meta │ ├── Settings.meta │ ├── Settings │ │ ├── ForwardRenderer.asset │ │ ├── ForwardRenderer.asset.meta │ │ ├── SampleSceneProfile.asset │ │ ├── SampleSceneProfile.asset.meta │ │ ├── UniversalRP-HighQuality.asset │ │ ├── UniversalRP-HighQuality.asset.meta │ │ ├── UniversalRP-LowQuality.asset │ │ ├── UniversalRP-LowQuality.asset.meta │ │ ├── UniversalRP-MediumQuality.asset │ │ └── UniversalRP-MediumQuality.asset.meta │ ├── TutorialAssets.meta │ └── TutorialAssets │ │ ├── Materials.meta │ │ ├── Materials │ │ ├── AlphabetCubeMaterial.mat │ │ ├── AlphabetCubeMaterial.mat.meta │ │ ├── NavyFloor.mat │ │ ├── NavyFloor.mat.meta │ │ ├── NonsymmetricCubeTexture.png │ │ ├── NonsymmetricCubeTexture.png.meta │ │ ├── SymmetricCubeTexture.png │ │ ├── SymmetricCubeTexture.png.meta │ │ ├── TableMarkers.mat │ │ ├── TableMarkers.mat.meta │ │ ├── rep_White_Laminate.mat │ │ ├── rep_White_Laminate.mat.meta │ │ ├── unity-tab-square-white.png │ │ └── unity-tab-square-white.png.meta │ │ ├── Prefabs.meta │ │ ├── Prefabs │ │ ├── Part1.meta │ │ ├── Part1 │ │ │ ├── Cube.prefab │ │ │ ├── Cube.prefab.meta │ │ │ ├── Floor.prefab │ │ │ ├── Floor.prefab.meta │ │ │ ├── Goal.prefab │ │ │ ├── Goal.prefab.meta │ │ │ ├── Meshes.meta │ │ │ ├── Meshes │ │ │ │ ├── SymmetryCube.fbx │ │ │ │ ├── SymmetryCube.fbx.meta │ │ │ │ ├── TableMesh.fbx │ │ │ │ └── TableMesh.fbx.meta │ │ │ ├── Table.prefab │ │ │ └── Table.prefab.meta │ │ ├── Part4.meta │ │ └── Part4 │ │ │ ├── ROSObjects.prefab │ │ │ └── ROSObjects.prefab.meta │ │ ├── RosMessages.meta │ │ ├── RosMessages │ │ ├── Moveit.meta │ │ ├── Moveit │ │ │ ├── msg.meta │ │ │ └── msg │ │ │ │ ├── RobotTrajectory.cs │ │ │ │ └── RobotTrajectory.cs.meta │ │ ├── Ur3Moveit.meta │ │ └── Ur3Moveit │ │ │ ├── msg.meta │ │ │ ├── msg │ │ │ ├── UR3MoveitJoints.cs │ │ │ ├── UR3MoveitJoints.cs.meta │ │ │ ├── UR3Trajectory.cs │ │ │ └── UR3Trajectory.cs.meta │ │ │ ├── srv.meta │ │ │ └── srv │ │ │ ├── MoverServiceRequest.cs │ │ │ ├── MoverServiceRequest.cs.meta │ │ │ ├── MoverServiceResponse.cs │ │ │ ├── MoverServiceResponse.cs.meta │ │ │ ├── PoseEstimationServiceRequest.cs │ │ │ ├── PoseEstimationServiceRequest.cs.meta │ │ │ ├── PoseEstimationServiceResponse.cs │ │ │ └── PoseEstimationServiceResponse.cs.meta │ │ ├── Scripts.meta │ │ ├── Scripts │ │ ├── PerceptionRandomizers.meta │ │ ├── PerceptionRandomizers │ │ │ ├── LightRandomizer.cs │ │ │ ├── LightRandomizer.cs.meta │ │ │ ├── LightRandomizerTag.cs │ │ │ ├── LightRandomizerTag.cs.meta │ │ │ ├── RobotArmObjectPositionRandomizer.cs │ │ │ ├── RobotArmObjectPositionRandomizer.cs.meta │ │ │ ├── RobotArmObjectPositionRandomizerTag.cs │ │ │ ├── RobotArmObjectPositionRandomizerTag.cs.meta │ │ │ ├── SurfaceObjectPlacer.cs │ │ │ ├── SurfaceObjectPlacer.cs.meta │ │ │ ├── UniformPoseRandomizer.cs │ │ │ ├── UniformPoseRandomizer.cs.meta │ │ │ ├── UniformPoseRandomizerTag.cs │ │ │ ├── UniformPoseRandomizerTag.cs.meta │ │ │ ├── YRotationRandomizer.cs │ │ │ ├── YRotationRandomizer.cs.meta │ │ │ ├── YRotationRandomizerTag.cs │ │ │ └── YRotationRandomizerTag.cs.meta │ │ ├── PoseEstimationScenario.cs │ │ ├── PoseEstimationScenario.cs.meta │ │ ├── TrajectoryPlanner.cs │ │ └── TrajectoryPlanner.cs.meta │ │ ├── URDFs.meta │ │ └── URDFs │ │ ├── ur3_with_gripper.meta │ │ └── ur3_with_gripper │ │ ├── Materials.meta │ │ ├── Materials │ │ ├── Default.mat │ │ ├── Default.mat.meta │ │ ├── LightGrey.mat │ │ ├── LightGrey.mat.meta │ │ ├── rgba-0.1-0.1-0.1-1.mat │ │ ├── rgba-0.1-0.1-0.1-1.mat.meta │ │ ├── rgba-0.792156862745098-0.819607843137255-0.933333333333333-1.mat │ │ ├── rgba-0.792156862745098-0.819607843137255-0.933333333333333-1.mat.meta │ │ ├── rgba-0.9-0.9-0.9-1.mat │ │ └── rgba-0.9-0.9-0.9-1.mat.meta │ │ ├── robotiq_2f_140_gripper_visualization.meta │ │ ├── robotiq_2f_140_gripper_visualization │ │ ├── CMakeLists.txt │ │ ├── CMakeLists.txt.meta │ │ ├── README.md │ │ ├── README.md.meta │ │ ├── launch.meta │ │ ├── launch │ │ │ ├── test_2f_140_model.launch │ │ │ └── test_2f_140_model.launch.meta │ │ ├── meshes.meta │ │ ├── meshes │ │ │ ├── collision.meta │ │ │ ├── collision │ │ │ │ ├── robotiq_arg2f_140_inner_finger.prefab │ │ │ │ ├── robotiq_arg2f_140_inner_finger.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl.meta │ │ │ │ ├── robotiq_arg2f_140_inner_finger_0.asset │ │ │ │ ├── robotiq_arg2f_140_inner_finger_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.prefab │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle_0.asset │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger.prefab │ │ │ │ ├── robotiq_arg2f_140_outer_finger.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger_0.asset │ │ │ │ ├── robotiq_arg2f_140_outer_finger_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.prefab │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle_0.asset │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle_0.asset.meta │ │ │ │ ├── robotiq_arg2f_base_link.prefab │ │ │ │ ├── robotiq_arg2f_base_link.prefab.meta │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ ├── robotiq_arg2f_base_link.stl.meta │ │ │ │ ├── robotiq_arg2f_base_link_0.asset │ │ │ │ ├── robotiq_arg2f_base_link_0.asset.meta │ │ │ │ ├── robotiq_arg2f_coupling.prefab │ │ │ │ ├── robotiq_arg2f_coupling.prefab.meta │ │ │ │ ├── robotiq_arg2f_coupling.stl │ │ │ │ ├── robotiq_arg2f_coupling.stl.meta │ │ │ │ ├── robotiq_arg2f_coupling_0.asset │ │ │ │ └── robotiq_arg2f_coupling_0.asset.meta │ │ │ ├── visual.meta │ │ │ └── visual │ │ │ │ ├── robotiq_arg2f_140_inner_finger.prefab │ │ │ │ ├── robotiq_arg2f_140_inner_finger.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl │ │ │ │ ├── robotiq_arg2f_140_inner_finger.stl.meta │ │ │ │ ├── robotiq_arg2f_140_inner_finger_0.asset │ │ │ │ ├── robotiq_arg2f_140_inner_finger_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.prefab │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle.stl.meta │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle_0.asset │ │ │ │ ├── robotiq_arg2f_140_inner_knuckle_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger.prefab │ │ │ │ ├── robotiq_arg2f_140_outer_finger.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl │ │ │ │ ├── robotiq_arg2f_140_outer_finger.stl.meta │ │ │ │ ├── robotiq_arg2f_140_outer_finger_0.asset │ │ │ │ ├── robotiq_arg2f_140_outer_finger_0.asset.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.prefab │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.prefab.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle.stl.meta │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle_0.asset │ │ │ │ ├── robotiq_arg2f_140_outer_knuckle_0.asset.meta │ │ │ │ ├── robotiq_arg2f_base_link.prefab │ │ │ │ ├── robotiq_arg2f_base_link.prefab.meta │ │ │ │ ├── robotiq_arg2f_base_link.stl │ │ │ │ ├── robotiq_arg2f_base_link.stl.meta │ │ │ │ ├── robotiq_arg2f_base_link_0.asset │ │ │ │ ├── robotiq_arg2f_base_link_0.asset.meta │ │ │ │ ├── robotiq_arg2f_coupling.prefab │ │ │ │ ├── robotiq_arg2f_coupling.prefab.meta │ │ │ │ ├── robotiq_arg2f_coupling.stl │ │ │ │ ├── robotiq_arg2f_coupling.stl.meta │ │ │ │ ├── robotiq_arg2f_coupling_0.asset │ │ │ │ └── robotiq_arg2f_coupling_0.asset.meta │ │ ├── package.xml │ │ ├── package.xml.meta │ │ ├── urdf.meta │ │ ├── urdf │ │ │ ├── robotiq_arg2f.xacro │ │ │ ├── robotiq_arg2f.xacro.meta │ │ │ ├── robotiq_arg2f_140_model.xacro │ │ │ ├── robotiq_arg2f_140_model.xacro.meta │ │ │ ├── robotiq_arg2f_140_model_macro.xacro │ │ │ ├── robotiq_arg2f_140_model_macro.xacro.meta │ │ │ ├── robotiq_arg2f_transmission.xacro │ │ │ └── robotiq_arg2f_transmission.xacro.meta │ │ ├── visualize.rviz │ │ └── visualize.rviz.meta │ │ ├── ur3_with_gripper.urdf │ │ ├── ur3_with_gripper.urdf.meta │ │ ├── ur_description.meta │ │ └── ur_description │ │ ├── CHANGELOG.rst │ │ ├── CHANGELOG.rst.meta │ │ ├── CMakeLists.txt │ │ ├── CMakeLists.txt.meta │ │ ├── Materials.meta │ │ ├── Materials │ │ ├── LightGrey.mat │ │ ├── LightGrey.mat.meta │ │ ├── Material_001.mat │ │ ├── Material_001.mat.meta │ │ ├── Material_002.mat │ │ └── Material_002.mat.meta │ │ ├── cfg.meta │ │ ├── cfg │ │ ├── view_robot.rviz │ │ └── view_robot.rviz.meta │ │ ├── launch.meta │ │ ├── launch │ │ ├── ur10_upload.launch │ │ ├── ur10_upload.launch.meta │ │ ├── ur3_upload.launch │ │ ├── ur3_upload.launch.meta │ │ ├── ur5_upload.launch │ │ ├── ur5_upload.launch.meta │ │ ├── view_ur10.launch │ │ ├── view_ur10.launch.meta │ │ ├── view_ur3.launch │ │ ├── view_ur3.launch.meta │ │ ├── view_ur5.launch │ │ └── view_ur5.launch.meta │ │ ├── meshes.meta │ │ ├── meshes │ │ ├── ur3.meta │ │ └── ur3 │ │ │ ├── collision.meta │ │ │ ├── collision │ │ │ ├── base.prefab │ │ │ ├── base.prefab.meta │ │ │ ├── base.stl │ │ │ ├── base.stl.meta │ │ │ ├── base_0.asset │ │ │ ├── base_0.asset.meta │ │ │ ├── forearm.prefab │ │ │ ├── forearm.prefab.meta │ │ │ ├── forearm.stl │ │ │ ├── forearm.stl.meta │ │ │ ├── forearm_0.asset │ │ │ ├── forearm_0.asset.meta │ │ │ ├── shoulder.prefab │ │ │ ├── shoulder.prefab.meta │ │ │ ├── shoulder.stl │ │ │ ├── shoulder.stl.meta │ │ │ ├── shoulder_0.asset │ │ │ ├── shoulder_0.asset.meta │ │ │ ├── upperarm.prefab │ │ │ ├── upperarm.prefab.meta │ │ │ ├── upperarm.stl │ │ │ ├── upperarm.stl.meta │ │ │ ├── upperarm_0.asset │ │ │ ├── upperarm_0.asset.meta │ │ │ ├── wrist1.prefab │ │ │ ├── wrist1.prefab.meta │ │ │ ├── wrist1.stl │ │ │ ├── wrist1.stl.meta │ │ │ ├── wrist1_0.asset │ │ │ ├── wrist1_0.asset.meta │ │ │ ├── wrist2.prefab │ │ │ ├── wrist2.prefab.meta │ │ │ ├── wrist2.stl │ │ │ ├── wrist2.stl.meta │ │ │ ├── wrist2_0.asset │ │ │ ├── wrist2_0.asset.meta │ │ │ ├── wrist3.prefab │ │ │ ├── wrist3.prefab.meta │ │ │ ├── wrist3.stl │ │ │ ├── wrist3.stl.meta │ │ │ ├── wrist3_0.asset │ │ │ └── wrist3_0.asset.meta │ │ │ ├── visual.meta │ │ │ └── visual │ │ │ ├── base.dae │ │ │ ├── base.dae.meta │ │ │ ├── forearm.dae │ │ │ ├── forearm.dae.meta │ │ │ ├── shoulder.dae │ │ │ ├── shoulder.dae.meta │ │ │ ├── upperarm.dae │ │ │ ├── upperarm.dae.meta │ │ │ ├── wrist1.dae │ │ │ ├── wrist1.dae.meta │ │ │ ├── wrist2.dae │ │ │ ├── wrist2.dae.meta │ │ │ ├── wrist3.dae │ │ │ └── wrist3.dae.meta │ │ ├── model.pdf │ │ ├── model.pdf.meta │ │ ├── package.xml │ │ ├── package.xml.meta │ │ ├── urdf.meta │ │ └── urdf │ │ ├── common.gazebo.xacro │ │ ├── common.gazebo.xacro.meta │ │ ├── ur.gazebo.xacro │ │ ├── ur.gazebo.xacro.meta │ │ ├── ur.transmission.xacro │ │ ├── ur.transmission.xacro.meta │ │ ├── ur10.urdf.xacro │ │ ├── ur10.urdf.xacro.meta │ │ ├── ur10_joint_limited_robot.urdf.xacro │ │ ├── ur10_joint_limited_robot.urdf.xacro.meta │ │ ├── ur10_robot.urdf.xacro │ │ ├── ur10_robot.urdf.xacro.meta │ │ ├── ur3.urdf.xacro │ │ ├── ur3.urdf.xacro.meta │ │ ├── ur3_joint_limited_robot.urdf.xacro │ │ ├── ur3_joint_limited_robot.urdf.xacro.meta │ │ ├── ur3_robot.urdf.xacro │ │ ├── ur3_robot.urdf.xacro.meta │ │ ├── ur5.urdf.xacro │ │ ├── ur5.urdf.xacro.meta │ │ ├── ur5_joint_limited_robot.urdf.xacro │ │ ├── ur5_joint_limited_robot.urdf.xacro.meta │ │ ├── ur5_robot.urdf.xacro │ │ └── ur5_robot.urdf.xacro.meta ├── Packages │ ├── manifest.json │ └── packages-lock.json └── ProjectSettings │ ├── AudioManager.asset │ ├── ClusterInputManager.asset │ ├── DynamicsManager.asset │ ├── EditorBuildSettings.asset │ ├── EditorSettings.asset │ ├── GraphicsSettings.asset │ ├── InputManager.asset │ ├── NavMeshAreas.asset │ ├── PackageManagerSettings.asset │ ├── Physics2DSettings.asset │ ├── PresetManager.asset │ ├── ProjectSettings.asset │ ├── ProjectVersion.txt │ ├── QualitySettings.asset │ ├── TagManager.asset │ ├── TimeManager.asset │ ├── URPProjectSettings.asset │ ├── UnityConnectSettings.asset │ ├── VFXManager.asset │ ├── VersionControlSettings.asset │ └── XRSettings.asset ├── README.md ├── ROS ├── .gitignore └── src │ └── ur3_moveit │ ├── CMakeLists.txt │ ├── URDF │ ├── ur3_with_gripper.urdf │ └── ur3_with_gripper.xacro │ ├── __init__.py │ ├── config │ ├── joint_limits.yaml │ ├── kinematics.yaml │ ├── ompl_planning.yaml │ ├── params.yaml │ ├── ros_controllers.yaml │ ├── sensors_3d.yaml │ └── ur3_with_gripper.srdf │ ├── controllers │ ├── joint_state_controller.yaml │ └── ur3_griper_controller.yaml │ ├── launch │ ├── controller_utils.launch │ ├── demo.launch │ ├── move_group.launch │ ├── ompl_planning_pipeline.launch.xml │ ├── planning_context.launch │ ├── planning_pipeline.launch.xml │ ├── pose_est.launch │ ├── ros_controllers.launch │ ├── sensor_manager.launch.xml │ ├── setup_assistant.launch │ ├── trajectory_execution.launch.xml │ ├── ur3_with_gripper_moveit_controller_manager.launch.xml │ └── ur3_with_gripper_moveit_sensor_manager.launch.xml │ ├── msg │ ├── UR3MoveitJoints.msg │ └── UR3Trajectory.msg │ ├── package.xml │ ├── scripts │ ├── mover.py │ ├── pose_estimation_script.py │ └── server_endpoint.py │ ├── setup.py │ ├── src │ └── ur3_moveit │ │ └── setup_and_run_model.py │ └── srv │ ├── MoverService.srv │ └── PoseEstimationService.srv ├── Third Party Notices.md └── docker ├── Dockerfile ├── set-up-workspace └── tutorial /.github/ISSUE_TEMPLATE/bug_report.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Bug report 3 | about: Create a report to help us improve 4 | title: '' 5 | labels: '' 6 | assignees: '' 7 | 8 | --- 9 | 10 | **Describe the bug** 11 | 12 | A clear and concise description of what the bug is. 13 | 14 | **To Reproduce** 15 | 16 | Steps to reproduce the behavior: 17 | 1. Go to '...' 18 | 2. Click on '....' 19 | 3. Scroll down to '....' 20 | 4. See error 21 | 22 | **Console logs / stack traces** 23 | 24 | Please wrap in [triple backticks (```)](https://help.github.com/en/articles/creating-and-highlighting-code-blocks) to make it easier to read. 25 | 26 | **Expected behavior** 27 | 28 | A clear and concise description of what you expected to happen. 29 | 30 | **Screenshots** 31 | 32 | If applicable, add screenshots or videos to help explain your problem. 33 | 34 | **Environment (please complete the following information, where applicable):** 35 | 36 | - Unity Version: [e.g. Unity 2020.2.0f1] 37 | - Unity machine OS + version: [e.g. Windows 10] 38 | - ROS machine OS + version: [e.g. Ubuntu 18.04, ROS Noetic] 39 | - ROS–Unity communication: [e.g. Docker] 40 | - Package branches or versions: [e.g. `com.unity.perception@0.8.0-preview.3`] 41 | 42 | **Additional context** 43 | 44 | Add any other context about the problem here. -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/config.yml: -------------------------------------------------------------------------------- 1 | blank_issues_enabled: false 2 | contact_links: 3 | - name: Unity Robotics Forum 4 | url: https://forum.unity.com/forums/robotics.623/ 5 | about: Discussions and questions about Unity Robotics tools, demos, or integrations. -------------------------------------------------------------------------------- /.github/ISSUE_TEMPLATE/feature_request.md: -------------------------------------------------------------------------------- 1 | --- 2 | name: Feature request 3 | about: Suggest an idea for this project 4 | title: '' 5 | labels: '' 6 | assignees: '' 7 | 8 | --- 9 | 10 | **Is your feature request related to a problem? Please describe.** 11 | 12 | A clear and concise description of what the problem is. Ex. I'm always frustrated when [...] 13 | 14 | **Describe the solution you'd like** 15 | 16 | A clear and concise description of what you want to happen. 17 | 18 | **Describe alternatives you've considered** 19 | 20 | A clear and concise description of any alternative solutions or features you've considered. 21 | 22 | **Additional context** 23 | 24 | Add any other context or screenshots about the feature request here. 25 | -------------------------------------------------------------------------------- /.github/PULL_REQUEST_TEMPLATE.md: -------------------------------------------------------------------------------- 1 | ## Proposed change(s) 2 | 3 | Describe the changes made in this PR. 4 | 5 | ### Useful links (GitHub issues, JIRA tickets, forum threads, etc.) 6 | 7 | Provide any relevant links here. 8 | 9 | ### Types of change(s) 10 | 11 | - [ ] Bug fix 12 | - [ ] New feature 13 | - [ ] Code refactor 14 | - [ ] Documentation update 15 | - [ ] Other (please describe) 16 | 17 | ## Testing and Verification 18 | 19 | Please describe the tests that you ran to verify your changes. Please also provide instructions, ROS packages, and Unity project files as appropriate so we can reproduce the test environment. 20 | 21 | ### Test Configuration: 22 | - Unity Version: [e.g. Unity 2020.2.0f1] 23 | - Unity machine OS + version: [e.g. Windows 10] 24 | - ROS machine OS + version: [e.g. Ubuntu 18.04, ROS Noetic] 25 | - ROS–Unity communication: [e.g. Docker] 26 | 27 | ## Checklist 28 | - [ ] Ensured this PR is up-to-date with the target branch 29 | - [ ] Followed the style guidelines as described in the [Contribution Guidelines](https://github.com/Unity-Technologies/Robotics-Object-Pose-Estimation/blob/main/CONTRIBUTING.md) 30 | - [ ] Added tests that prove my fix is effective or that my feature works 31 | - [ ] Updated the [Changelog](https://github.com/Unity-Technologies/Robotics-Object-Pose-Estimation/blob/main/CHANGELOG.md) and described changes in the [Unreleased section](https://github.com/Unity-Technologies/Robotics-Object-Pose-Estimation/blob/main/CHANGELOG.md#unreleased) 32 | - [ ] Updated the documentation as appropriate 33 | 34 | ## Other comments -------------------------------------------------------------------------------- /.github/workflows/jira-link.yaml: -------------------------------------------------------------------------------- 1 | name: jira-link 2 | 3 | on: 4 | pull_request: 5 | types: [opened, edited, reopened, synchronize] 6 | 7 | jobs: 8 | jira-link: 9 | runs-on: ubuntu-20.04 10 | steps: 11 | - name: check pull request title and source branch name 12 | run: | 13 | echo "Checking pull request with title ${{ github.event.pull_request.title }} from source branch ${{ github.event.pull_request.head.ref }}" 14 | if ! [[ "${{ github.event.pull_request.title }}" =~ ^AIRO-[0-9]+[[:space:]].*$ ]] && ! [[ "${{ github.event.pull_request.head.ref }}" =~ ^AIRO-[0-9]+.*$ ]] 15 | then 16 | echo -e "Please make sure one of the following is true:\n \ 17 | 1. the pull request title starts with 'AIRO-xxxx ', e.g. 'AIRO-1024 My Pull Request'\n \ 18 | 2. the source branch starts with 'AIRO-xxx', e.g. 'AIRO-1024-my-branch'" 19 | exit 1 20 | else 21 | echo "Completed checking" 22 | fi 23 | -------------------------------------------------------------------------------- /.github/workflows/pre-commit.yaml: -------------------------------------------------------------------------------- 1 | name: pre-commit 2 | 3 | on: 4 | pull_request: 5 | push: 6 | branches: [dev] 7 | 8 | jobs: 9 | pre-commit: 10 | runs-on: ubuntu-latest 11 | steps: 12 | - uses: actions/checkout@v2 13 | - uses: actions/setup-python@v2 14 | with: 15 | python-version: 3.7.x 16 | - uses: actions/setup-dotnet@v1 17 | with: 18 | dotnet-version: '6.0.x' 19 | include-prerelease: true 20 | - uses: pre-commit/action@v2.0.0 21 | -------------------------------------------------------------------------------- /.github/workflows/stale.yaml: -------------------------------------------------------------------------------- 1 | name: 'Stale issue handler' 2 | on: 3 | workflow_dispatch: 4 | schedule: 5 | - cron: '0 17 * * *' # 17:00 UTC; 10:00 PDT 6 | 7 | permissions: 8 | issues: write 9 | 10 | jobs: 11 | stale: 12 | runs-on: ubuntu-latest 13 | steps: 14 | - uses: actions/stale@v4.0.0 15 | id: stale 16 | with: 17 | stale-issue-label: 'stale' 18 | stale-issue-message: 'This issue has been marked stale because it has been open for 14 days with no activity. Please remove the stale label or comment on this issue, or the issue will be automatically closed in the next 14 days.' 19 | days-before-stale: 14 20 | days-before-pr-stale: -1 21 | days-before-close: 14 22 | days-before-pr-close: -1 23 | exempt-issue-labels: 'blocked,must,should,keep,pinned,work-in-progress,request,announcement' 24 | close-issue-message: 'This issue has been marked stale for 14 days and will now be closed. If this issue is still valid, please ping a maintainer.' 25 | - name: Print outputs 26 | run: echo ${{ join(steps.stale.outputs.*, ',') }} 27 | -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | .DS_Store 2 | .swp 3 | .idea 4 | .vscode/ 5 | .vsconfig 6 | 7 | ROS/src/ur3_moveit/models -------------------------------------------------------------------------------- /.gitmodules: -------------------------------------------------------------------------------- 1 | [submodule "ROS/src/universal_robot"] 2 | path = ROS/src/universal_robot 3 | url = https://github.com/ros-industrial/universal_robot 4 | [submodule "ROS/src/moveit_msgs"] 5 | path = ROS/src/moveit_msgs 6 | url = https://github.com/ros-planning/moveit_msgs.git 7 | [submodule "ROS/src/ros_tcp_endpoint"] 8 | path = ROS/src/ros_tcp_endpoint 9 | url = https://github.com/Unity-Technologies/ROS-TCP-Endpoint.git 10 | [submodule "ROS/src/robotiq"] 11 | path = ROS/src/robotiq 12 | url = https://github.com/JStech/robotiq.git 13 | branch = noetic-mods -------------------------------------------------------------------------------- /.pre-commit-config.yaml: -------------------------------------------------------------------------------- 1 | repos: 2 | - repo: https://github.com/pre-commit/pre-commit-hooks 3 | rev: v4.0.1 4 | hooks: 5 | - id: mixed-line-ending 6 | exclude: > 7 | (?x)^( 8 | .*cs.meta| 9 | .*.css| 10 | .*.meta| 11 | .*.mat| 12 | .*.preset| 13 | .*.lighting| 14 | .*.dae 15 | )$ 16 | args: [--fix=lf] 17 | 18 | - id: trailing-whitespace 19 | name: trailing-whitespace-markdown 20 | types: [markdown] 21 | - id: check-merge-conflict 22 | args: [--assume-in-merge] 23 | - id: check-yaml 24 | # Won't handle the templating in yamato 25 | exclude: \.yamato/.* 26 | 27 | 28 | - repo: https://github.com/dotnet/format 29 | rev: v5.1.225507 30 | hooks: 31 | - id: dotnet-format 32 | entry: dotnet-format whitespace 33 | args: [--folder, --include] 34 | -------------------------------------------------------------------------------- /CHANGELOG.md: -------------------------------------------------------------------------------- 1 | # Changelog 2 | 3 | All notable changes to this repository will be documented in this file. 4 | 5 | The format is based on [Keep a Changelog](http://keepachangelog.com/en/1.0.0/) and this project adheres to [Semantic Versioning](http://semver.org/spec/v2.0.0.html). 6 | 7 | ## Unreleased 8 | 9 | ### Upgrade Notes 10 | 11 | ### Known Issues 12 | 13 | ### Added 14 | 15 | ### Changed 16 | 17 | ### Deprecated 18 | 19 | ### Removed 20 | 21 | ### Fixed 22 | 23 | ## v0.0.2 24 | 25 | ### Upgrade Notes 26 | 27 | Fixed CUDA-device support 28 | 29 | Add collision ignorance to the gripper inner knuckles and switch the PGS solver to the TGS solver 30 | 31 | ### Known Issues 32 | 33 | ### Added 34 | 35 | Added Sonarqube Scanner 36 | 37 | Add the [Close Stale Issues](https://github.com/marketplace/actions/close-stale-issues) action 38 | 39 | Added linter 40 | 41 | ### Changed 42 | 43 | Linting and style fixes 44 | 45 | ### Deprecated 46 | 47 | ### Removed 48 | 49 | ### Fixed 50 | Update key fetching from Ubuntu keyserver when building the ROS docker image -------------------------------------------------------------------------------- /CONTRIBUTING.md: -------------------------------------------------------------------------------- 1 | # Contributing 2 | 3 | At this time, the repo is not accepting external contributions in the form of PRs. The Unity Robotics packages and all of its features are in active development, and significant changes are expected in future releases. 4 | 5 | We encourage you to submit bugs, suggestions, and feedback as [GitHub issues](https://github.com/Unity-Technologies/Robotics-Object-Pose-Estimation/issues). -------------------------------------------------------------------------------- /Documentation/Gifs/0_demo.gif: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Documentation/Gifs/0_demo.gif -------------------------------------------------------------------------------- /Documentation/Gifs/1_URDF_importer.gif: -------------------------------------------------------------------------------- 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The easiest way to install Unity is through Unity Hub. 4 | 5 | 1. Navigate to [this](https://unity3d.com/get-unity/download) page to download Unity Hub 6 | 2. Go to the Unity Hub and in the panel `install`. Then click on `Add` and select the latest release of `Unity 2020.2`. 7 | 8 |

9 | 10 |

11 | 12 | During the installation of Unity, you will be asked to choose which build support modules you would like to include. For this project, we will not need any of them. 13 | 14 | 3. You will need a code editor to complete this tutorial. If you do not already have it on your computer, the wizard will give you an option to install _**Visual Studio**_. You may go ahead and check this option if you would like to use _**Visual Studio**_, or you may use a different code editor of your choice. 15 | 16 | 4. Click on `Install this version with Unity Hub`. -------------------------------------------------------------------------------- /Model/.gitignore: -------------------------------------------------------------------------------- 1 | # Logs # 2 | ###################### 3 | *.log 4 | 5 | # OS generated files # 6 | ###################### 7 | .DS_Store 8 | 9 | # Python # 10 | ########### 11 | __pycache__/ 12 | 13 | # Runs 14 | runs/ 15 | *.egg-info/ 16 | .coverage 17 | *.tar.gz 18 | env/ 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /Model/config.yaml: -------------------------------------------------------------------------------- 1 | estimator: UR3_single_cube_model 2 | train: 3 | dataset_zip_file_name_training: UR3_single_cube_training 4 | batch_training_size: 20 5 | accumulation_steps: 10 6 | epochs: 120 7 | beta_loss: 1 8 | sample_size_train: 0 9 | val: 10 | dataset_zip_file_name_validation: UR3_single_cube_validation 11 | batch_validation_size: 30 12 | eval_freq: 4 13 | sample_size_val: 0 14 | test: 15 | dataset_zip_file_name_test: UR3_single_cube_validation 16 | batch_test_size: 30 17 | sample_size_test: 0 18 | dataset: 19 | image_scale: 224 20 | download_data_gcp: False 21 | gcs_bucket: None 22 | pose_estimation_gcs_path: None 23 | symmetric: False 24 | adam_optimizer: 25 | lr: 0.0001 26 | beta_1: 0.9 27 | beta_2: 0.999 28 | checkpoint: 29 | load_dir_checkpoint: None 30 | save_frequency: 1 31 | system: 32 | log_dir_system: /save/single_cube 33 | data_root: /data 34 | -------------------------------------------------------------------------------- /Model/documentation/docs/docker_id_image.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Model/documentation/docs/docker_id_image.png -------------------------------------------------------------------------------- /Model/documentation/docs/docker_settings.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Model/documentation/docs/docker_settings.png -------------------------------------------------------------------------------- /Model/documentation/docs/jupyter_notebook_local.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Model/documentation/docs/jupyter_notebook_local.png -------------------------------------------------------------------------------- /Model/documentation/docs/kubeflow_details_pipeline.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Model/documentation/docs/kubeflow_details_pipeline.png -------------------------------------------------------------------------------- /Model/documentation/docs/network.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Model/documentation/docs/network.png -------------------------------------------------------------------------------- /Model/documentation/docs/performance_model.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Model/documentation/docs/performance_model.png -------------------------------------------------------------------------------- /Model/documentation/docs/successful_run_jupyter_notebook.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Model/documentation/docs/successful_run_jupyter_notebook.png -------------------------------------------------------------------------------- /Model/documentation/docs/tensorboard.png: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Model/documentation/docs/tensorboard.png -------------------------------------------------------------------------------- /Model/documentation/running_on_the_cloud.md: -------------------------------------------------------------------------------- 1 | ## Running on the Cloud 2 | Instead of training or evaluating your model on your local computer, you can use the cloud. The advantages of using the cloud are: 3 | - Speed 4 | - No local storage problems 5 | - No need to install packages or software on your computer 6 | - Can run on any computer and at any time without needing monitoring 7 | 8 | To run the project on the cloud, you will need to change a few parameters in [config.yaml](../config.yaml) file. The steps are described in the section below, [Google Cloud Platform](#google-cloud-platform). 9 | 10 | ### Google Cloud Platform 11 | 12 | Instead of extracting the data from your local computer, you can also download it form the cloud. In that case, you have two options: 13 | - If you want to access the cloud for your data in the Docker image, you will need to change the [config.yaml](../config.yaml) file. 14 | - Under `dataset`, set `download_data_gcp` to `True` 15 | - Specify the string value for `gcs_bucket` and `pose_estimation_gcs_path`, where `pose_estimation_gcs_path` is the path under the `gcs_bucket`. 16 | - For example, if you have called your gcs_bucket `pose-estimation` and you have created a new folder inside `pose-estimation` named `dataset`, then pose_estimation_gcs_path will be equal to `dataset`. 17 | - If you want to use the kubeflow pipeline, you will only need to fill out the respective arguments when you create the pipeline as you can see on the picture below: 18 | ![](docs/kubeflow_details_pipeline.png) 19 | 20 | However, please note that using a Cloud computing platform (Google Cloud, AWS, Azure) is charged. 21 | 22 | This project provides the code necessary to run your project on [kubeflow](#https://www.kubeflow.org/) where you can run [machine learning pipelines](#https://www.kubeflow.org/docs/pipelines/overview/pipelines-overview/). You will just need to follow the instructions in the [Kubeflow Pipeline](../kubeflow/README.md). -------------------------------------------------------------------------------- /Model/documentation/tensorboard.md: -------------------------------------------------------------------------------- 1 | # Visualizing Training Results with Tensorboard 2 | To view the training or evaluation logs you can you use Tensorboard. The logs are saved in the same directory the model is saved. 3 | You need to run the following command: 4 | 5 | * **Action**: 6 | ```bash 7 | tensorboard --logdir=[LOG DIRECTORY] 8 | ``` 9 | 10 | You should see something similar to this: 11 |

12 | 13 |

14 | 15 | The result of this command will show you the port on which Tensorboard is now available. In the example above, it can be found at port `6006`. 16 | 17 | * **Action**: Open your internet browser and navigate to: 18 | ``` 19 | localhost:[PORT_NUMBER] 20 | ``` 21 | 22 | Once you navigate to that location in your browser, you should see something like this: 23 |

24 | 25 |

26 | 27 | These charts show the changing loss during the training process. The training and validation losses are the mean squared errors for position and orientation on the training and validation data sets, respectively. During training, the loss is generally expected to go down, but as you can see here, it can be noisy. If you'd like to learn more about the model, you can explore its code [here](../Model). -------------------------------------------------------------------------------- /Model/environment-gpu.yml: -------------------------------------------------------------------------------- 1 | name: pose_estimation 2 | channels: 3 | - defaults 4 | - pytorch 5 | dependencies: 6 | - python=3.8 7 | - click=7.1.2 8 | - cudatoolkit=10.1 9 | - cudnn=7.6.5 10 | - flake8=3.8.3 11 | - isort=4.3.21 12 | - jupyter=1.0.0 13 | - pip=20.1.1 14 | - pytest=5.4.3 15 | - pytest-cov=2.10.0 16 | - pytorch=1.7.0 17 | - torchvision=0.8.1 18 | - docopt=0.6.2 19 | - black=19.10b 20 | - pyyaml=5.3.1 21 | 22 | - pip: 23 | - kfp==1.0.4 24 | - easydict==1.9 25 | - tensorboardX==2.1 -------------------------------------------------------------------------------- /Model/environment.yml: -------------------------------------------------------------------------------- 1 | name: pose_estimation 2 | channels: 3 | - defaults 4 | - pytorch 5 | dependencies: 6 | - python=3.8 7 | - click=7.1.2 8 | - flake8=3.8.3 9 | - isort=4.3.21 10 | - jupyter=1.0.0 11 | - pip=20.1.1 12 | - pytest=5.4.3 13 | - pytest-cov=2.10.0 14 | - pytorch=1.7.0 15 | - torchvision=0.8.1 16 | - docopt=0.6.2 17 | - black=19.10b 18 | - pyyaml=5.3.1 19 | 20 | - pip: 21 | - easydict==1.9 22 | - tensorboardX==2.1 23 | - kfp==1.0.4 -------------------------------------------------------------------------------- /Model/pose_estimation/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Model/pose_estimation/__init__.py -------------------------------------------------------------------------------- /Model/pose_estimation/__init__.pyc: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Model/pose_estimation/__init__.pyc -------------------------------------------------------------------------------- /Model/pose_estimation/evaluation_metrics/__init__.py: -------------------------------------------------------------------------------- 1 | 2 | -------------------------------------------------------------------------------- /Model/pose_estimation/evaluation_metrics/translation_average_mean_square_error.py: -------------------------------------------------------------------------------- 1 | r"""Translation Average Mean Square Error metrics. 2 | 3 | The translation average mean square error is the mean of the mse loss over a batch of examples. 4 | It is used as a metric for the translation's prediction 5 | """ 6 | 7 | import torch 8 | 9 | 10 | def translation_average_mean_square_error(output, target): 11 | """ 12 | Attributes: 13 | output (tensor of shape (batch size, 3)): it is the model's prediction 14 | for all the images in a batch 15 | target (tensor of shape (batch_size, 3)): it is the target 16 | Return: 17 | metric translation is a scalar 18 | """ 19 | 20 | if target.shape != output.shape: 21 | raise ValueError( 22 | f"The shapes of real data {target.shape} and predicted data {output.shape} \ 23 | should be the same." 24 | ) 25 | 26 | square_diffs = (target - output) ** 2 27 | norms = torch.mean(square_diffs, 1) 28 | metric_translation = torch.mean(norms, axis=-1).item() 29 | 30 | return metric_translation 31 | -------------------------------------------------------------------------------- /Model/pose_estimation/storage/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/Model/pose_estimation/storage/__init__.py -------------------------------------------------------------------------------- /Model/pose_estimation/storage/exceptions.py: -------------------------------------------------------------------------------- 1 | class DownloadError(Exception): 2 | """Raise when download file failed.""" 3 | 4 | 5 | class ChecksumError(Exception): 6 | """Raises when the downloaded file checksum is not correct.""" 7 | -------------------------------------------------------------------------------- /Model/setup.py: -------------------------------------------------------------------------------- 1 | import os 2 | import io 3 | 4 | from setuptools import setup 5 | 6 | # Package meta-data. 7 | NAME = "pose_estimation" 8 | DESCRIPTION = "Perform pose estimation on a single cube environment" 9 | EMAIL = "perception@unity3d.com" 10 | AUTHOR = "Unity Perception" 11 | REQUIRES_PYTHON = ">=3.8" 12 | VERSION = "0.1.0" 13 | 14 | here = os.path.abspath(os.path.dirname(__file__)) 15 | 16 | # Load the package's __version__.py module as a dictionary. 17 | about = {} 18 | if not VERSION: 19 | project_slug = NAME.lower().replace("-", "_").replace(" ", "_") 20 | with open(os.path.join(here, project_slug, "__version__.py")) as f: 21 | exec(f.read(), about) 22 | else: 23 | about["__version__"] = VERSION 24 | 25 | setup( 26 | name = NAME, 27 | description = DESCRIPTION, 28 | author = AUTHOR, 29 | author_email=EMAIL, 30 | version = VERSION, 31 | packages = ['pose_estimation'], 32 | include_package_data=True, 33 | entry_points = {'console_scripts': [f"{NAME}={NAME}.cli:main"]}, 34 | classifiers=[ 35 | # Trove classifiers 36 | # Full list: https://pypi.python.org/pypi?%3Aaction=list_classifiers 37 | "License :: OSI Approved :: MIT License", 38 | "Programming Language :: Python", 39 | "Programming Language :: Python :: 3", 40 | "Programming Language :: Python :: 3.8", 41 | ], 42 | ) 43 | -------------------------------------------------------------------------------- /Model/tests/config/test_config.yaml: -------------------------------------------------------------------------------- 1 | estimator: test 2 | train: 3 | dataset_zip_file_name_training: test_single_cube_dataset 4 | batch_training_size: 1 5 | accumulation_steps: 1 6 | epochs: 1 7 | beta_loss: 1 8 | sample_size_train: 0 9 | val: 10 | dataset_zip_file_name_validation: test_single_cube_dataset 11 | batch_validation_size: 1 12 | val_start_epoch: 0 13 | sample_size_val: 0 14 | test: 15 | dataset_zip_file_name_test: test_single_cube_dataset 16 | batch_test_size: 1 17 | sample_size_test: 0 18 | dataset: 19 | image_scale: 224 20 | download_data_gcp: False 21 | gcs_bucket: None 22 | pose_estimation_gcs_path: None 23 | symmetric: [False] 24 | adam_optimizer: 25 | lr: 0.0001 26 | beta_1: 0.9 27 | beta_2: 0.999 28 | checkpoint: 29 | load_dir_checkpoint: None 30 | save_frequency: 1 31 | system: 32 | log_dir_system: /tmp/pose_estimation/single_cube 33 | data_root: /Users/Documents/ 34 | -------------------------------------------------------------------------------- /Model/tests/test_average_translation_mean_square_error.py: -------------------------------------------------------------------------------- 1 | from pose_estimation.evaluation_metrics.translation_average_mean_square_error import ( 2 | translation_average_mean_square_error, 3 | ) 4 | import torch 5 | import numpy as np 6 | 7 | 8 | class TestAverageMeanSquaredError: 9 | def get_y_true_y_pred(self): 10 | y_true = torch.tensor([[2.0, 1.0, 1.0], [1, 2, 2]]) 11 | y_pred = torch.tensor([[1.0, 2.0, 3.0], [2, 3, 4]]) 12 | return y_true, y_pred 13 | 14 | def test_metric(self): 15 | y_true, y_pred = self.get_y_true_y_pred() 16 | 17 | # compute real metric 18 | true_res = 0 19 | shape = y_pred.shape 20 | 21 | for i in range(shape[0]): 22 | error_sample = 0 23 | for j in range(shape[1]): 24 | error_sample += torch.mul( 25 | y_pred[i, j] - y_true[i, j], y_pred[i, j] - y_true[i, j] 26 | ).item() 27 | true_res += error_sample / shape[1] 28 | true_res = true_res / shape[0] 29 | 30 | res = translation_average_mean_square_error(y_true, y_true) 31 | assert 0 == res 32 | 33 | res = translation_average_mean_square_error(y_pred, y_true) 34 | assert np.round(true_res, 4) == np.round(res, 4) 35 | -------------------------------------------------------------------------------- /Model/tests/test_evaluate.py: -------------------------------------------------------------------------------- 1 | from pose_estimation.pose_estimation_estimator import PoseEstimationEstimator 2 | from pose_estimation.single_cube_dataset import SingleCubeDataset 3 | from pose_estimation.evaluate import evaluate_models, evaluate_one_epoch 4 | from unittest.mock import MagicMock, patch 5 | import os 6 | import tempfile 7 | 8 | import pytest 9 | import torch 10 | from yacs.config import CfgNode as CN 11 | 12 | from pose_estimation.storage.checkpoint import EstimatorCheckpoint 13 | 14 | # XXX This should not be a global variable. A tempdir should be a fixture and 15 | # automatically cleanup after EVERY unit test finished execution. 16 | tmp_dir = tempfile.TemporaryDirectory() 17 | tmp_name = tmp_dir.name 18 | 19 | data_root = os.path.join(os.getcwd(), "tests") 20 | zip_file_name = "test_single_cube_dataset" 21 | root = os.path.join(data_root, zip_file_name) 22 | 23 | 24 | @pytest.fixture 25 | def config(): 26 | """prepare config.""" 27 | with open("tests/config/test_config.yaml") as f: 28 | cfg = CN.load_cfg(f) 29 | 30 | return cfg 31 | 32 | 33 | @pytest.fixture 34 | def dataset(config): 35 | """prepare dataset.""" 36 | dataset_test = SingleCubeDataset( 37 | config=config, 38 | data_root=data_root, 39 | zip_file_name=zip_file_name, 40 | sample_size=0, 41 | download=False, 42 | ) 43 | return dataset_test 44 | 45 | 46 | class TestEvaluate: 47 | @patch("pose_estimation.evaluate.evaluate_one_epoch") 48 | def test_evaluate_model(self, mock_evaluate_one_epoch, config, dataset): 49 | """test train on all epochs.""" 50 | log_dir = os.path.join(tmp_name, "eval") 51 | if not os.path.exists(log_dir): 52 | os.mkdir(log_dir) 53 | 54 | config.system.data_root = data_root 55 | config.system.log_dir_system = log_dir 56 | 57 | pose_estimation_estimator = PoseEstimationEstimator(config=config) 58 | 59 | evaluate_models(estimator=pose_estimation_estimator) 60 | 61 | mock_evaluate_one_epoch.assert_called_once() 62 | -------------------------------------------------------------------------------- /Model/tests/test_linear_normalized_activation.py: -------------------------------------------------------------------------------- 1 | from pose_estimation.model import LinearNormalized 2 | import torch 3 | import numpy as np 4 | 5 | 6 | class TestLinearNormalizedActivation: 7 | def test_activation_function(self): 8 | activation_function = LinearNormalized() 9 | 10 | # now we compute the real activation function 11 | x = torch.tensor([[1.0, 2.0], [2.0, 3.0]]) 12 | true_res = x 13 | for index in range(x.shape[0]): 14 | element = true_res[index] 15 | norm = torch.norm(element, p=2).item() 16 | element = element / norm 17 | true_res[index] = element 18 | 19 | res = activation_function._linear_normalized(x) 20 | 21 | assert torch.equal(np.round(res, 4), np.round(true_res, 4)) 22 | 23 | true_res = torch.tensor([[0.0, 0.0]]) 24 | res = activation_function._linear_normalized(true_res) 25 | assert torch.equal(np.round(res, 4), np.round(true_res, 4)) 26 | -------------------------------------------------------------------------------- /Model/tests/test_single_cube_dataset/Logs/heartbeat.txt: -------------------------------------------------------------------------------- 1 | 0.050 2 | 0.066 3 | -------------------------------------------------------------------------------- /Model/tests/test_single_cube_dataset/RGB34ff62fd-df0e-490e-b001-79fbe1ac1a7d/rgb_10.png: -------------------------------------------------------------------------------- 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-------------------------------------------------------------------------------- 1 | //Do not edit! This file was generated by Unity-ROS MessageGeneration. 2 | using System; 3 | using System.Linq; 4 | using System.Collections.Generic; 5 | using System.Text; 6 | using Unity.Robotics.ROSTCPConnector.MessageGeneration; 7 | 8 | namespace RosMessageTypes.Ur3Moveit 9 | { 10 | public class UR3Trajectory : Message 11 | { 12 | public const string RosMessageName = "ur3_moveit/UR3Trajectory"; 13 | 14 | public Moveit.RobotTrajectory[] trajectory; 15 | 16 | public UR3Trajectory() 17 | { 18 | this.trajectory = new Moveit.RobotTrajectory[0]; 19 | } 20 | 21 | public UR3Trajectory(Moveit.RobotTrajectory[] trajectory) 22 | { 23 | this.trajectory = trajectory; 24 | } 25 | public override List SerializationStatements() 26 | { 27 | var listOfSerializations = new List(); 28 | 29 | listOfSerializations.Add(BitConverter.GetBytes(trajectory.Length)); 30 | foreach (var entry in trajectory) 31 | listOfSerializations.Add(entry.Serialize()); 32 | 33 | return listOfSerializations; 34 | } 35 | 36 | public override int Deserialize(byte[] data, int offset) 37 | { 38 | 39 | var trajectoryArrayLength = DeserializeLength(data, offset); 40 | offset += 4; 41 | this.trajectory = new Moveit.RobotTrajectory[trajectoryArrayLength]; 42 | for (var i = 0; i < trajectoryArrayLength; i++) 43 | { 44 | this.trajectory[i] = new Moveit.RobotTrajectory(); 45 | offset = this.trajectory[i].Deserialize(data, offset); 46 | } 47 | 48 | return offset; 49 | } 50 | 51 | public override string ToString() 52 | { 53 | return "UR3Trajectory: " + 54 | "\ntrajectory: " + System.String.Join(", ", trajectory.ToList()); 55 | } 56 | } 57 | } 58 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/msg/UR3Trajectory.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 3d7235034c05c45118815147a5174d1b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: eb91916abcdc148049d2f69e23bcbf73 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/MoverServiceRequest.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5e23c31d1d96746c7a0acadf55cc6e56 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/MoverServiceResponse.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 65698673876eb433dab16f1c0905e57a 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/PoseEstimationServiceRequest.cs: -------------------------------------------------------------------------------- 1 | //Do not edit! This file was generated by Unity-ROS MessageGeneration. 2 | using System; 3 | using System.Linq; 4 | using System.Collections.Generic; 5 | using System.Text; 6 | using Unity.Robotics.ROSTCPConnector.MessageGeneration; 7 | 8 | namespace RosMessageTypes.Ur3Moveit 9 | { 10 | public class PoseEstimationServiceRequest : Message 11 | { 12 | public const string RosMessageName = "ur3_moveit/PoseEstimationService"; 13 | 14 | public Sensor.Image image; 15 | 16 | public PoseEstimationServiceRequest() 17 | { 18 | this.image = new Sensor.Image(); 19 | } 20 | 21 | public PoseEstimationServiceRequest(Sensor.Image image) 22 | { 23 | this.image = image; 24 | } 25 | public override List SerializationStatements() 26 | { 27 | var listOfSerializations = new List(); 28 | listOfSerializations.AddRange(image.SerializationStatements()); 29 | 30 | return listOfSerializations; 31 | } 32 | 33 | public override int Deserialize(byte[] data, int offset) 34 | { 35 | offset = this.image.Deserialize(data, offset); 36 | 37 | return offset; 38 | } 39 | 40 | public override string ToString() 41 | { 42 | return "PoseEstimationServiceRequest: " + 43 | "\nimage: " + image.ToString(); 44 | } 45 | } 46 | } 47 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/PoseEstimationServiceRequest.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 674a32fe466494d7790f49f4f62697d3 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/PoseEstimationServiceResponse.cs: -------------------------------------------------------------------------------- 1 | //Do not edit! This file was generated by Unity-ROS MessageGeneration. 2 | using System; 3 | using System.Linq; 4 | using System.Collections.Generic; 5 | using System.Text; 6 | using Unity.Robotics.ROSTCPConnector.MessageGeneration; 7 | 8 | namespace RosMessageTypes.Ur3Moveit 9 | { 10 | public class PoseEstimationServiceResponse : Message 11 | { 12 | public const string RosMessageName = "ur3_moveit/PoseEstimationService"; 13 | 14 | public Geometry.Pose estimated_pose; 15 | 16 | public PoseEstimationServiceResponse() 17 | { 18 | this.estimated_pose = new Geometry.Pose(); 19 | } 20 | 21 | public PoseEstimationServiceResponse(Geometry.Pose estimated_pose) 22 | { 23 | this.estimated_pose = estimated_pose; 24 | } 25 | public override List SerializationStatements() 26 | { 27 | var listOfSerializations = new List(); 28 | listOfSerializations.AddRange(estimated_pose.SerializationStatements()); 29 | 30 | return listOfSerializations; 31 | } 32 | 33 | public override int Deserialize(byte[] data, int offset) 34 | { 35 | offset = this.estimated_pose.Deserialize(data, offset); 36 | 37 | return offset; 38 | } 39 | 40 | public override string ToString() 41 | { 42 | return "PoseEstimationServiceResponse: " + 43 | "\nestimated_pose: " + estimated_pose.ToString(); 44 | } 45 | } 46 | } 47 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/RosMessages/Ur3Moveit/srv/PoseEstimationServiceResponse.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 5778575cb4d4e4afbb15ce3fd9f1257b 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 68e4e2251b3c24bf2935bbccc3aa4673 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: a7dedcf86f94c4ef0b7354078c0eb1e8 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/LightRandomizer.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using System; 4 | using UnityEngine; 5 | using UnityEngine.Perception.Randomization.Parameters; 6 | using UnityEngine.Perception.Randomization.Randomizers; 7 | using UnityEngine.Perception.Randomization.Samplers; 8 | 9 | [Serializable] 10 | [AddRandomizerMenu("Perception/Light Randomizer")] 11 | public class LightRandomizer : Randomizer 12 | { 13 | public FloatParameter lightIntensityParameter = new FloatParameter { value = new UniformSampler(.9f, 1.1f) }; 14 | 15 | public FloatParameter rotationX = new FloatParameter { value = new UniformSampler(40, 80) }; 16 | 17 | public FloatParameter rotationY = new FloatParameter { value = new UniformSampler(-180, 180) }; 18 | 19 | public ColorRgbParameter lightColorParameter = new ColorRgbParameter 20 | { 21 | red = new UniformSampler(.5f, 1f), 22 | green = new UniformSampler(.5f, 1f), 23 | blue = new UniformSampler(.5f, 1f), 24 | alpha = new ConstantSampler(1f) 25 | }; 26 | 27 | protected override void OnIterationStart() 28 | { 29 | /*Runs at the start of every iteration*/ 30 | IEnumerable tags = tagManager.Query(); 31 | 32 | foreach (LightRandomizerTag tag in tags) 33 | { 34 | var light = tag.gameObject.GetComponent(); 35 | light.intensity = lightIntensityParameter.Sample(); 36 | light.color = lightColorParameter.Sample(); 37 | 38 | Vector3 rotation = new Vector3(rotationX.Sample(), rotationY.Sample(), tag.gameObject.transform.eulerAngles.z); 39 | tag.gameObject.transform.rotation = Quaternion.Euler(rotation); 40 | } 41 | 42 | } 43 | } 44 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/LightRandomizer.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 8c55b7def0daa4aa4ba4305cce0f9bcc 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/LightRandomizerTag.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Perception.Randomization.Randomizers; 5 | 6 | [AddComponentMenu("Perception/RandomizerTags/LightRandomizerTag")] 7 | [RequireComponent(typeof(Light))] 8 | public class LightRandomizerTag : RandomizerTag 9 | { 10 | 11 | } 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/LightRandomizerTag.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 64af179f0e512471fbf1410d6a6fb13e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/RobotArmObjectPositionRandomizer.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 66060ac7fbf4b4999b6c77f5e858e5d7 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/RobotArmObjectPositionRandomizerTag.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Perception.Randomization.Randomizers; 5 | 6 | [AddComponentMenu("Perception/RandomizerTags/RobotArmObjectPositionRandomizerTag")] 7 | [RequireComponent(typeof(Renderer))] 8 | public class RobotArmObjectPositionRandomizerTag : RandomizerTag 9 | { 10 | public bool mustBeReachable; 11 | } 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/RobotArmObjectPositionRandomizerTag.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: daba81ca1c4ca4f98b498d2ac664220e 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/SurfaceObjectPlacer.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: bab7499d2b6824ce78efd5d3907cd099 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/UniformPoseRandomizer.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 526e7ffe2245d40b08646a6fe1f932e1 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/UniformPoseRandomizerTag.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Perception.Randomization.Randomizers; 5 | 6 | [AddComponentMenu("Perception/RandomizerTags/UniformPoseRandomizerTag")] 7 | public class UniformPoseRandomizerTag : RandomizerTag 8 | { 9 | [HideInInspector] 10 | public Vector3 rootPosePosition; 11 | public Vector3 rootPoseRotation; 12 | 13 | private void Start() 14 | { 15 | rootPosePosition = transform.position; 16 | rootPoseRotation = transform.eulerAngles; 17 | } 18 | 19 | } -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/UniformPoseRandomizerTag.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7959b9c673ca0431aa9172059fbcb4fa 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/YRotationRandomizer.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using System; 4 | using UnityEngine; 5 | using UnityEngine.Perception.Randomization.Parameters; 6 | using UnityEngine.Perception.Randomization.Randomizers; 7 | using UnityEngine.Perception.Randomization.Samplers; 8 | 9 | 10 | [Serializable] 11 | [AddRandomizerMenu("Perception/Y Rotation Randomizer")] 12 | public class YRotationRandomizer : Randomizer 13 | { 14 | public FloatParameter rotationRange = new FloatParameter { value = new UniformSampler(0f, 360f) }; // in range (0, 1) 15 | 16 | protected override void OnIterationStart() 17 | { 18 | IEnumerable tags = tagManager.Query(); 19 | foreach (YRotationRandomizerTag tag in tags) 20 | { 21 | float yRotation = rotationRange.Sample(); 22 | 23 | // sets rotation 24 | tag.SetYRotation(yRotation); 25 | } 26 | } 27 | } 28 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/YRotationRandomizer.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: cbac82f4123604b9fa3b5d118c948c15 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/YRotationRandomizerTag.cs: -------------------------------------------------------------------------------- 1 | using System.Collections; 2 | using System.Collections.Generic; 3 | using UnityEngine; 4 | using UnityEngine.Perception.Randomization.Randomizers; 5 | 6 | public class YRotationRandomizerTag : RandomizerTag 7 | { 8 | private Vector3 originalRotation; 9 | 10 | private void Start() 11 | { 12 | originalRotation = transform.eulerAngles; 13 | } 14 | 15 | public void SetYRotation(float yRotation) 16 | { 17 | transform.eulerAngles = new Vector3(originalRotation.x, yRotation, originalRotation.z); 18 | } 19 | } -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PerceptionRandomizers/YRotationRandomizerTag.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 417413544452d4d3b9d7955bb12c9077 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PoseEstimationScenario.cs: -------------------------------------------------------------------------------- 1 | using System; 2 | using UnityEngine; 3 | using UnityEngine.Perception.Randomization.Scenarios; 4 | 5 | [Serializable] 6 | public class PoseEstimationScenarioConstants : ScenarioConstants 7 | { 8 | public int totalFrames = 1000; 9 | } 10 | 11 | public class PoseEstimationScenario : PerceptionScenario 12 | { 13 | public bool automaticIteration = true; 14 | 15 | bool m_ShouldIterate; 16 | 17 | public void Move() 18 | { 19 | m_ShouldIterate = true; 20 | } 21 | 22 | protected override void IncrementIteration() 23 | { 24 | base.IncrementIteration(); 25 | m_ShouldIterate = false; 26 | } 27 | 28 | protected override bool isIterationComplete => m_ShouldIterate || automaticIteration && currentIterationFrame >= 1; 29 | 30 | protected override bool isScenarioComplete => currentIteration >= constants.totalFrames; 31 | 32 | protected override void OnComplete() 33 | { 34 | if (automaticIteration) 35 | base.OnComplete(); 36 | } 37 | } 38 | 39 | 40 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/PoseEstimationScenario.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 03dfc4690482efe43ac40997f4dc351f 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/Scripts/TrajectoryPlanner.cs.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 7c5e1d861482e41d7bc3fd8f414e8ddd 3 | MonoImporter: 4 | externalObjects: {} 5 | serializedVersion: 2 6 | defaultReferences: [] 7 | executionOrder: 0 8 | icon: {instanceID: 0} 9 | userData: 10 | assetBundleName: 11 | assetBundleVariant: 12 | 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/PoseEstimationDemoProject/Assets/TutorialAssets/URDFs/ur3_with_gripper/robotiq_2f_140_gripper_visualization.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 9d75245927ef64456a7843a5f75ba872 3 | folderAsset: yes 4 | DefaultImporter: 5 | externalObjects: {} 6 | userData: 7 | assetBundleName: 8 | assetBundleVariant: 9 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/URDFs/ur3_with_gripper/robotiq_2f_140_gripper_visualization/CMakeLists.txt: -------------------------------------------------------------------------------- 1 | cmake_minimum_required(VERSION 2.8.3) 2 | project(robotiq_2f_140_gripper_visualization) 3 | find_package(catkin REQUIRED) 4 | catkin_package() 5 | 6 | install(DIRECTORY meshes DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 7 | install(DIRECTORY urdf DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) 8 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/URDFs/ur3_with_gripper/robotiq_2f_140_gripper_visualization/CMakeLists.txt.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 02af6ec9775304202984594af2bc286d 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/URDFs/ur3_with_gripper/robotiq_2f_140_gripper_visualization/README.md: -------------------------------------------------------------------------------- 1 | # Robotiq 140mm 2-Finger-Adaptive-Gripper 2 | 3 | This package contains the URDF files describing the 140mm stroke gripper from robotiq, also known as series **C3**. 4 | 5 | To test the gripper URDF description type 6 | 7 | ``` 8 | roslaunch robotiq_2f_140_gripper_visualization test_2f_140_model.launch 9 | ``` 10 | ## Robot Visual 11 | ![140](https://user-images.githubusercontent.com/8356912/49428409-463f8580-f7a6-11e8-8278-5246acdc5c14.png) 12 | 13 | ## Robot Collision 14 | ![1402](https://user-images.githubusercontent.com/8356912/49428407-463f8580-f7a6-11e8-9c4e-df69e478f107.png) 15 | -------------------------------------------------------------------------------- /PoseEstimationDemoProject/Assets/TutorialAssets/URDFs/ur3_with_gripper/robotiq_2f_140_gripper_visualization/README.md.meta: -------------------------------------------------------------------------------- 1 | fileFormatVersion: 2 2 | guid: 6df36fdcb27c44dd18e61c63c2144fa5 3 | TextScriptImporter: 4 | externalObjects: {} 5 | userData: 6 | assetBundleName: 7 | assetBundleVariant: 8 | -------------------------------------------------------------------------------- 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/ROS/src/ur3_moveit/URDF/ur3_with_gripper.xacro: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/__init__.py: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/Unity-Technologies/Robotics-Object-Pose-Estimation/45156479bee5d308085022aa8f20edc0c6a3bccc/ROS/src/ur3_moveit/__init__.py -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/config/kinematics.yaml: -------------------------------------------------------------------------------- 1 | arm: 2 | kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin 3 | kinematics_solver_search_resolution: 0.005 4 | kinematics_solver_timeout: 0.005 -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/config/params.yaml: -------------------------------------------------------------------------------- 1 | ROS_IP: 127.0.0.1 -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/config/ros_controllers.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | - name: "" 3 | action_ns: follow_joint_trajectory 4 | type: FollowJointTrajectory 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/config/sensors_3d.yaml: -------------------------------------------------------------------------------- 1 | # The name of this file shouldn't be changed, or else the Setup Assistant won't detect it 2 | sensors: 3 | - filtered_cloud_topic: filtered_cloud 4 | max_range: 5.0 5 | max_update_rate: 1.0 6 | padding_offset: 0.1 7 | padding_scale: 1.0 8 | point_cloud_topic: /head_mount_kinect/depth_registered/points 9 | point_subsample: 1 10 | sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/controllers/joint_state_controller.yaml: -------------------------------------------------------------------------------- 1 | joint_state_controller: 2 | type: joint_state_controller/JointStateController 3 | publish_rate: 50 -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/controllers/ur3_griper_controller.yaml: -------------------------------------------------------------------------------- 1 | controller_list: 2 | [] 3 | arm_controller: 4 | type: position_controllers/JointTrajectoryController 5 | joints: 6 | - shoulder_pan_joint 7 | - shoulder_lift_joint 8 | - elbow_joint 9 | - wrist_1_joint 10 | - wrist_2_joint 11 | - wrist_3_joint 12 | 13 | constraints: 14 | goal_time: 0.6 15 | stopped_velocity_tolerance: 0.05 16 | shoulder_pan_joint: {trajectory: 0.1, goal: 0.1} 17 | shoulder_lift_joint: {trajectory: 0.1, goal: 0.1} 18 | elbow_joint: {trajectory: 0.1, goal: 0.1} 19 | wrist_1_joint: {trajectory: 0.1, goal: 0.1} 20 | wrist_2_joint: {trajectory: 0.1, goal: 0.1} 21 | wrist_3_joint: {trajectory: 0.1, goal: 0.1} 22 | stop_trajectory_duration: 0.5 23 | state_publish_rate: 25 24 | action_monitor_rate: 10 25 | 26 | joint_group_position_controller: 27 | type: position_controllers/JointGroupPositionController 28 | joints: 29 | - shoulder_pan_joint 30 | - shoulder_lift_joint 31 | - elbow_joint 32 | - wrist_1_joint 33 | - wrist_2_joint 34 | - wrist_3_joint -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/controller_utils.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | [/arm_controller/joint_states] 8 | 9 | 10 | 11 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/demo.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/ompl_planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 8 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/planning_context.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | 22 | 23 | 24 | 25 | 26 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/planning_pipeline.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/pose_est.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | ' 4 | 5 | 6 | 7 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/ros_controllers.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | [/arm_controller/joint_states] 9 | 10 | 11 | 13 | 14 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/setup_assistant.launch: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 14 | 15 | 16 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/trajectory_execution.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | 12 | 13 | 14 | 15 | 16 | 17 | 18 | 19 | 20 | 21 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/ur3_with_gripper_moveit_controller_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 5 | 6 | 7 | 8 | 9 | 10 | 11 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/launch/ur3_with_gripper_moveit_sensor_manager.launch.xml: -------------------------------------------------------------------------------- 1 | 2 | 3 | 4 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/msg/UR3MoveitJoints.msg: -------------------------------------------------------------------------------- 1 | float64 joint_00 2 | float64 joint_01 3 | float64 joint_02 4 | float64 joint_03 5 | float64 joint_04 6 | float64 joint_05 7 | geometry_msgs/Pose pick_pose 8 | geometry_msgs/Pose place_pose 9 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/msg/UR3Trajectory.msg: -------------------------------------------------------------------------------- 1 | moveit_msgs/RobotTrajectory[] trajectory -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/scripts/server_endpoint.py: -------------------------------------------------------------------------------- 1 | #!/usr/bin/env python 2 | 3 | import rospy 4 | 5 | from ros_tcp_endpoint import TcpServer, RosPublisher, RosSubscriber, RosService 6 | from ur3_moveit.msg import * 7 | from ur3_moveit.srv import * 8 | 9 | def main(): 10 | ros_node_name = rospy.get_param("/TCP_NODE_NAME", 'TCPServer') 11 | tcp_server = TcpServer(ros_node_name) 12 | rospy.init_node(ros_node_name, anonymous=True) 13 | 14 | # Start the Server Endpoint with a ROS communication objects dictionary for routing messages 15 | tcp_server.start({ 16 | 'UR3Trajectory': RosSubscriber('UR3Trajectory', UR3Trajectory, tcp_server), 17 | 'ur3_moveit': RosService('ur3_moveit', MoverService), 18 | 'pose_estimation_srv': RosService('pose_estimation_service', PoseEstimationService) 19 | }) 20 | 21 | rospy.spin() 22 | 23 | 24 | if __name__ == "__main__": 25 | main() 26 | -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/setup.py: -------------------------------------------------------------------------------- 1 | ## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD 2 | 3 | from setuptools import setup 4 | from catkin_pkg.python_setup import generate_distutils_setup 5 | 6 | # fetch values from package.xml 7 | setup_args = generate_distutils_setup( 8 | packages=['ur3_moveit'], 9 | package_dir={'': 'src'}) 10 | 11 | setup(**setup_args) -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/srv/MoverService.srv: -------------------------------------------------------------------------------- 1 | UR3MoveitJoints joints_input 2 | geometry_msgs/Pose pick_pose 3 | geometry_msgs/Pose place_pose 4 | --- 5 | moveit_msgs/RobotTrajectory[] trajectories -------------------------------------------------------------------------------- /ROS/src/ur3_moveit/srv/PoseEstimationService.srv: -------------------------------------------------------------------------------- 1 | sensor_msgs/Image image 2 | --- 3 | geometry_msgs/Pose estimated_pose -------------------------------------------------------------------------------- /docker/Dockerfile: -------------------------------------------------------------------------------- 1 | FROM ros:noetic-ros-base 2 | 3 | RUN sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys F42ED6FBAB17C654 4 | 5 | RUN sudo apt-get update && sudo apt-get install -y vim iputils-ping net-tools python3-pip ros-noetic-robot-state-publisher ros-noetic-moveit ros-noetic-rosbridge-suite ros-noetic-joy ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-tf* ros-noetic-gazebo-ros-pkgs ros-noetic-joint-state-publisher ros-noetic-soem ros-noetic-ros-canopen dos2unix git 6 | 7 | RUN sudo -H pip3 --no-cache-dir install rospkg numpy jsonpickle scipy easydict torch==1.7.1+cu101 torchvision==0.8.2+cu101 torchaudio==0.7.2 -f https://download.pytorch.org/whl/torch_stable.html 8 | 9 | ENV ROS_WORKSPACE=/catkin_ws 10 | 11 | WORKDIR $ROS_WORKSPACE 12 | 13 | # Copy each directory explicitly to avoid workspace cruft 14 | COPY ./ROS/src/moveit_msgs $ROS_WORKSPACE/src/moveit_msgs 15 | COPY ./ROS/src/robotiq $ROS_WORKSPACE/src/robotiq 16 | COPY ./ROS/src/ros_tcp_endpoint $ROS_WORKSPACE/src/ros_tcp_endpoint 17 | COPY ./ROS/src/universal_robot $ROS_WORKSPACE/src/universal_robot 18 | COPY ./ROS/src/ur3_moveit $ROS_WORKSPACE/src/ur3_moveit 19 | 20 | COPY ./docker/set-up-workspace /setup.sh 21 | COPY docker/tutorial / 22 | 23 | RUN /bin/bash -c "find $ROS_WORKSPACE -type f -print0 | xargs -0 dos2unix" 24 | 25 | RUN dos2unix /tutorial && dos2unix /setup.sh && chmod +x /setup.sh && /setup.sh && rm /setup.sh 26 | 27 | # pre-load model 28 | RUN python3 -c 'import src.ur3_moveit.src.ur3_moveit.setup_and_run_model as model; model.preload()' 29 | 30 | ENTRYPOINT ["/tutorial"] -------------------------------------------------------------------------------- /docker/set-up-workspace: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | 3 | source /opt/ros/noetic/setup.bash 4 | echo "ROS_IP: $(hostname -i)" > $ROS_WORKSPACE/src/ur3_moveit/config/params.yaml 5 | cd $ROS_WORKSPACE 6 | catkin_make -DCATKIN_WHITELIST_PACKAGES="moveit_msgs;ros_tcp_endpoint;ur3_moveit;robotiq_2f_140_gripper_visualization;ur_description;ur_gazebo" -------------------------------------------------------------------------------- /docker/tutorial: -------------------------------------------------------------------------------- 1 | #!/bin/bash 2 | source $ROS_WORKSPACE/devel/setup.bash 3 | echo "ROS_IP: $(hostname -i)" > $ROS_WORKSPACE/src/ur3_moveit/config/params.yaml 4 | 5 | exec "$@" --------------------------------------------------------------------------------