Grasping Moving Object using Visual Servoing

Setup Environment

• make sure to pull submodules using git submodule update --init --recursive.
• conda create env from .yml file
• install airobot using: pip install git+https://github.com/Improbable-AI/airobot@4c0fe31
• install flownet2 submodule present in the subdir src/controllers/rtvs/flownet2 and using install.sh

Basic Explanation

• src/sim.py contains the main code intracting with the simulation env and the arm.
• src/rtvs_run.sh provides an example how to run the simulation using rtvs controller, and additionaly stiches frames together to a video.
• src/create_dataset.py and src/train.py are for ml training the depth net, while the main ML code is in src/depthnet.
• src/controllers are various controllers available.