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Michel Breyer 2022-01-16 14:26:48 +01:00
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## 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.
### Software
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)
@ -31,25 +27,25 @@ Start a roscore.
roscore
```
To run simulated grasping experiments.
To run simulation experiments.
```
# Start the simulated environment
mon launch active_grasp env.launch sim:=true
# Start the simulation environment
roslaunch active_grasp env.launch sim:=true
# Run the grasping experiment
# Run the experiment
python3 scripts/run.py nbv
```
To run real-robot grasping experiments.
To run real world experiments.
```
# Start the hardware drivers
mon launch active_grasp hw.launch
roslaunch active_grasp hw.launch
# 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
```