Installation

• MoveIt

• TRAC-IK

• realsense_ros

• Ros Packages Compilation

catkin build franka_ros
catkin build franka_control_wrappers panda_control robot_helpers
catkin build vgn
catkin build active_grasp

• Python dependencies can be installed with

pip install -r requirements.txt

If you meet any problems during the installation, please refer to VGN and active_grasp.

Hardware Dependencies

franka_ros version: 0.10.1

libfranka_version: 0.8.0

Run Simulation

roscore
roslaunch active_grasp env.launch sim:=true
python3 scripts/run.py nbv

Run Hardware

roscore
roslaunch active_grasp hw_peter.launch
roslaunch active_grasp env.launch sim:=false
python3 scripts/run.py nbv

Weights

https://drive.google.com/file/d/1Ue4u3yJLHssPE4JUX3eVu5XEOb8WzmJC/view?usp=drive_link

Competition Vedio

https://www.youtube.com/watch?v=1wqAk8SbL2Q