Active Grasping

With the results obtained, the paper Optimización bayesiana multisolución para la exploración eficiente de agarres robóticos was published at XLIII Jornadas Automaticas 2022.

Cite: Herrera Seara, I., García-Lechuz Sierra, J., García Barcos, J., Martínez-Cantín, R. (2022) Optimización bayesiana multisolución para la exploración eficiente de agarres robóticos. XLIII Jornadas de Automática: libro de actas, pp. 714-720.

Requirements

• Python 3
• C++ 20
• Simox
• BayesOpt V2
• SigOpt - Python
• SWIG (to create Grasp lib python interface)

Compile

>> mkdir build && cd build
>> cmake ..
>> make -j4
>> sudo make install

SigOpt setup

If you want to use active grasping with SigOpt platfform you have to add two environment variables:

• SIGOPT_DEV_TOKEN, your sigopt development token
• SIGOPT_PROD_TOKEN, your sigopt production token

You can choose Dev/Production token by setting the param "mode" to "dev"/"prod" in the sigopt params file.

Tests

Tests to check that everything is working

Test c++ lib:

>> cd build && ./bin/test_libs

Test python lib:

>> cd ..
>> python3 test/test_grasp.py
>> python3 test/test_bopt.py
>> python3 test/test_sigopt.py

Execution

Active Grasping Optimization

>> python3 main_active_grasping.py
                        -fgrasp <executor> <params_file>
                        (-fbopt <bayesopt_params> <exp_params> |
                        -fsopt <sigopt_params>)
                        [-flog <log_file>]

• <executor>: {0: TestGramacyExecutor, 1: GraspPlanner, 2: GraspPlannerIK, 3: GraspPlannerS}
• -fbopt: BayesOpt
• -fsopt: SigOpt

Optimization evaluation

>> python3 evaluation.py -flogs (<log_file> | <log_folder>)+

Grasp visualization

Grasp EEF

>> ./build/bin/grasp_visualization <mode> <file>

• <mode>: 0: from configuration; 1: from log
• <file>: configuration or log file

Grasp Spherical

>> ./build/bin/grasp_visualizationS <grasp_params> [<log_file>]

• <grasp_params>: config file
• <log_file>: log file

Grasp IK BiRRT

>> ./grasp_ik_visualization <mode> <file>

• <mode>: 0: from configuration; 1: from log
• <file>: configuration or log file