Adaptive robotics plays an essential role in achieving truly co-creative cyber physical systems. In robotic manipulation tasks, one of the biggest challenges is to estimate the pose of given workpieces. Even though the recent deep-learning-based models show promising results, they require an immense dataset for training. In this paper, two vision-based, multi-object grasp pose estimation models (MOGPE), the MOGPE Real-Time and the MOGPE High-Precision are proposed. Furthermore, a sim2real method based on domain randomization to diminish the reality gap and overcome the data shortage. Our methods yielded an 80% and a 96.67% success rate in a real-world robotic pick-and-place experiment, with the MOGPE Real-Time and the MOGPE High-Precision model respectively. Our framework provides an industrial tool for fast data generation and model training and requires minimal domain-specific data.

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