Pick-place-model

Setup

• Install Genesis Simulation with OMPL Path Planning library

Run code

To run the basic setup: franka arm robot with desk, follow these steps:

1. Clone the repository:

   git clone https://github.com/janhq/pick-place-model

2. Navigate to the project directory:

   cd pick-place-model

3. Run the main script:

   python script/pick_place/pick_place.py

adding different objects to the scene

1. Clone external repo into folder at the same level as this repo, This includes many 3d objects in xml format,

   https://github.com/vikashplus/furniture_sim.git

2. check the file path in scene.add_entity() of both microwave_door, slide_cabinet

3. Run the script:

   python script/pick_place/spawn_objects.py