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Michel Breyer 2022-01-16 14:26:48 +01:00
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## Setup ## Setup
### Hardware
While the policies are hardware-agnostic, the experiments are designed to work with a Franka Emika Panda and an Intel Realsense D435 attached to the wrist of the robot. While the policies are hardware-agnostic, the experiments are designed to work with a Franka Emika Panda and an Intel Realsense D435 attached to the wrist of the robot.
### Software
The code was developed and tested on Ubuntu 20.04 with ROS Noetic. It depends on the following external packages: The code was developed and tested on Ubuntu 20.04 with ROS Noetic. It depends on the following external packages:
- [MoveIt](https://github.com/ros-planning/panda_moveit_config.git) - [MoveIt](https://github.com/ros-planning/panda_moveit_config.git)
@ -31,25 +27,25 @@ Start a roscore.
roscore roscore
``` ```
To run simulated grasping experiments. To run simulation experiments.
``` ```
# Start the simulated environment # Start the simulation environment
mon launch active_grasp env.launch sim:=true roslaunch active_grasp env.launch sim:=true
# Run the grasping experiment # Run the experiment
python3 scripts/run.py nbv python3 scripts/run.py nbv
``` ```
To run real-robot grasping experiments. To run real world experiments.
``` ```
# Start the hardware drivers # Start the hardware drivers
mon launch active_grasp hw.launch roslaunch active_grasp hw.launch
# Launch the hw environment # Launch the hw environment
mon launch active_grasp env.launch sim:=false roslaunch active_grasp env.launch sim:=false
# Run the grasping experiment # Run the experiment
python3 scripts/run.py nbv --wait-for-input python3 scripts/run.py nbv --wait-for-input
``` ```