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https://github.com/rickstaa/panda-autograsp

An autonomous grasping solution for the Emika Franka Panda robot.
https://github.com/rickstaa/panda-autograsp

machine-learning neural-networks python robot-manipulation robotics ros

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An autonomous grasping solution for the Emika Franka Panda robot.

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README 

        
# panda-autograsp



[![Codacy Badge](https://app.codacy.com/project/badge/Grade/087fda2f0f4c423cb561745ab7afdba7)](https://www.codacy.com/gh/rickstaa/panda-autograsp/dashboard?utm_source=github.com&utm_medium=referral&utm_content=rickstaa/panda-autograsp&utm_campaign=Badge_Grade)

[![Contributions](https://img.shields.io/badge/contributions-welcome-orange.svg)](contributing.md)

[![GitHub release (latest by date)](https://img.shields.io/github/v/release/rickstaa/panda-autograsp)](https://github.com/rickstaa/panda-autograsp/releases)

[![Python 3](https://img.shields.io/badge/python%203-3.7%20%7C%203.6%20%7C%203.5-yellow.svg)](https://www.python.org/)

[![Python 2](https://img.shields.io/badge/python%202-2.7%20%7C%202.6%20%7C%202.5-brightgreen.svg)](https://www.python.org/)

[![ROS versions](https://img.shields.io/badge/ROS%20versions-Melodic%20%7C%20Kinectic-brightgreen)](https://wiki.ros.org)



:bulb: You are on the default (Kinect2) branch. This branch is optimized to work with the Kinect2 camera. To use the package with the RealSense cameras, see the [melodic-devel-realsense branch](https://github.com/rickstaa/panda-autograsp/tree/melodic-devel-realsense).



## Package Overview



The panda-autograsp is an autonomous ROS based grasping solution that works with the [Panda Emika Franka robot](https://www.franka.de/panda/). In this grasping solution, several opensource grasping solutions are implemented on the [Panda Emika Franka robots](https://www.franka.de/panda/) robot. These solutions work both on a physical as well as a simulated version of the panda robot. A simulated version of the panda robot is already shipped with this package.



-   [BerkleyAutomation/gqcnn](https://github.com/BerkeleyAutomation/gqcnn)



## Installation and Usage



Please see the [docs](https://rickstaa.github.io/panda-autograsp/) for installation and usage instructions.



## Known limitations



-   There package is currently not working with the simulated camera (see [#158](https://github.com/rickstaa/panda-autograsp/issues/158).



-   Since the package is written in python2.7 and this version already reached EOL, the dependencies are quite fragile. The `setup.py` install method might, therefore fail. If this is the case, please install the dependencies using the `./requirements/requirements.txt` file. This can be solved by porting the package to ROS Noetic (see [#163](https://github.com/rickstaa/panda-autograsp/issues/163)).



## LICENSE



The main code if this repository is licensed under an **MIT license**. If a LICENCE file is present in a submodule this licence has to be respected but ONLY for the files contained in this submodule.



## Contributing



Feel free to open an issue if you have ideas on how to make this GitHub action better or if you want to report a bug! All contributions are welcome. :rocket: Please consult the [contribution guidelines](CONTRIBUTING.md) for more information.



## References



-   GQ-CNN and FC-GQ-CNN created by [@berkeleyautomation](https://berkeleyautomation.github.io/gqcnn)

-   Icon created with svgs made by [@freepik](https://www.freepik.com/) from [www.flaticon.com](https://www.flaticon.com/authors/eucalyp)