README.md

object-grasping-pattern-recognition

Object Recognition using the Object's Grasping Pattern

Installation Guide

1. Install ROS Noetic.

2. Follow the instructions in the larcc_drivers repository.

3. Next clone this repository into your catkin workspace:

   cd ~/catkin_ws/src
   git clone https://github.com/lardemua/object_grasping_pattern_recognition.git
   

4. Compile the catkin workspace:

   cd ~/catkin_ws && catkin_make
   

5. Install python requirements:

   cd ~/catkin_ws/src/object_grasping_pattern_recognition
   pip install -r requirements.txt
   

6. Download MediaPipe task models:

   cd ~/catkin_ws/src/object_grasping_pattern_recognition/pamaral_object_grasping_pattern_recognition/models
   wget https://storage.googleapis.com/mediapipe-models/pose_landmarker/pose_landmarker_lite/float16/latest/pose_landmarker_lite.task
   wget https://storage.googleapis.com/mediapipe-models/pose_landmarker/pose_landmarker_full/float16/latest/pose_landmarker_full.task
   wget https://storage.googleapis.com/mediapipe-models/pose_landmarker/pose_landmarker_heavy/float16/latest/pose_landmarker_heavy.task
   wget https://storage.googleapis.com/mediapipe-models/hand_landmarker/hand_landmarker/float16/latest/hand_landmarker.task
   

Usage Guide

Record Data as Bag Files

roslaunch pamaral_object_grasping_pattern_recognition dataset_recording.launch

Extract MediaPipe Data from Bag Files

roslaunch pamaral_object_grasping_pattern_recognition dataset_mediapipe_preprocessing.launch

Data Preprocessing

roslaunch pamaral_object_grasping_pattern_recognition dataset_keypoints_preprocessing.launch

Train Model

cd model_training
python3 cnn_main.py

or

cd model_training
python3 transformer_main.py