cl_tsgrasp

This is a ROS package to synthesize and execute grasps on the RSA Testbed using tsgrasp and MoveIt.

Installation

1. git submodule update --init --recursive
2. Download the model parameter checkpoint.
3. Install dependencies of tsgrasp into a conda environment.
4. Export the conda environment path in your ~/.bashrc: export NN_CONDA_PATH=/home/playert/miniconda3/envs/tsgrasp/bin/python
5. catkin build

Usage

Simulated

roslaunch cl_tsgrasp testbed_grasp_demo.launch simulated:=true

Real

roslaunch cl_tsgrasp testbed_grasp_demo.launch simulated:=false