Grasp system is implemented through RGB-D data captured by Intel Realsense F200 on the Dobot Magician platform. This system adopt depth segmentation, color classification and points cloud registration framework to predict grasping region on common desktop objects, such as cup, can, teapot.
Install the driver of Dobot Magician and run the Dobot server
There are some hotkeys help us control Dobot before do automatic grasping work.
| Hotkey | Operation |
|---|---|
| Space | Find ChessBoard |
| ESC | Quit Client |
| g | Grasp |
| h | Home |
| q | Quit Server |
| k | Up |
| j | Down |