active_grasp

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
• TRAC-IK
• VGN
• franka_ros and realsense2_camera (only required for hardware experiments)

Additional Python dependencies can be installed with

pip install -r requirements.txt

Finally, run catkin build active_grasp to build the package.

Experiments

Start a roscore.

roscore

To run simulated grasping experiments.

# Start the simulated environment
mon launch active_grasp env.launch sim:=true

# Run the grasping experiment
python3 scripts/run.py nbv

To run real-robot grasping experiments.

# Start the hardware drivers
mon launch active_grasp hw.launch

# Launch the hw environment
mon launch active_grasp env.launch sim:=false

# Run the grasping experiment
python3 scripts/run.py nbv --wait-for-input