首先先搞一下数据采集吧,入坑的每一天都在不断崩溃.
论文:https://arxiv.org/pdf/2402.10329
项目主页:https://umi-gripper.github.io/
算法code:https://github.com/real-stanford/universal_manipulation_interface
硬件指引:https://docs.google.com/document/d/1TPYwV9sNVPAi0ZlAupDMkXZ4CA1hsZx7YDMSmcEy6EU/edit#heading=h.5k5vwx2iqjqg
数据采集介绍:https://swanky-sphere-ad1.notion.site/UMI-Data-Collection-Instruction-4db1a1f0f2aa4a2e84d9742720428b4c
1.硬件指引
这部分涉及CAD Models和3D printing,这部分已经由一个比较讨厌有冲突的人完成了,
完整的安装教程如下,全都是工程问题:
3D printing tutorial: https://youtu.be/EJmAg1Bnp-k
Gripper assembly tutorial: https://youtu.be/x3ko0v_xwpg
所以做接下来的事情:
Setup Instruction
Install WSG50 gripper to UR5 robot’s flange
Install GoPro and mirrors to the mounting plate
Place your inference workstation, UR5 robots and WSG50 grippers behind the same router (likely ne
InST论文复现
2024-05-02 15:50:02 64 阅读