reachability_grasping_demo

This is a demo package that shows the reachability-aware grasping approach in simulation.

Generate tasks

Specify pickup tasks in a yaml according to pickup_tasks.yaml. This contains pickup configuration (meshes and pose(s) of the target object and obstacles) and the search_energy_types field defines the grasp planner type e.g. the reachability-aware grasp planner (GUIDED_POTENTIAL_QUALITY_ENERGY) and the naive grasp planner (REACHABLE_FIRST_HYBRID_GRASP_ENERGY).

Run Graspit!/Reachability check on tasks

• Launch the robot and planning scene manager in simulation

roslaunch reachability_grasping_demo everything.launch

• Run the run_tasks.py script to iterate over pickup tasks one at a time and solve it (get grasps and reachability checks).

python run_tasks.py --config_file pickup_tasks.yaml

At the end, it plots the percentage reachability of the reachability-aware grasp planner relative to the naive grasp planner.