grasping

Installation

1. Install ROS
2. Install dependencies
   • Moveit: sudo apt install ros-kinetic-moveit
   • gqcnn
3. Create workspace and add thing2.sh to workspace root
4. Add sawyer_moveit, gqcnn, and grasping source
5. Copy models/ to ~/.gazebo/models

Simulation

0. Setup
   • Source the simulated robot: bash ~/catkin_ws/thing2.sh sim
1. Launch the sawyer world: roslaunch grasping sawyer_world.launch
2. Launch moveit and rviz: roslaunch grasping moveit_rviz.launch
3. Save perception images: ~/catkin_ws/src/perception/tools/capture_images.py --config_filename ~/catkin_ws/src/grasping/config/capture_images.yaml NAME
4. Run gqcnn on saved images: python examples/policy.py --config_filename /usr0/home/tweng/catkin_ws/src/grasping/config/policy.yaml