https://github.com/ethz-asl/active_grasp
Closed-loop next-best view planning for grasp detection in clutter.
https://github.com/ethz-asl/active_grasp
Last synced: 8 months ago
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Closed-loop next-best view planning for grasp detection in clutter.
- Host: GitHub
- URL: https://github.com/ethz-asl/active_grasp
- Owner: ethz-asl
- License: mit
- Created: 2022-01-06T13:11:48.000Z (almost 4 years ago)
- Default Branch: devel
- Last Pushed: 2022-12-15T12:07:23.000Z (about 3 years ago)
- Last Synced: 2025-03-25T08:38:07.813Z (9 months ago)
- Language: Python
- Homepage:
- Size: 241 KB
- Stars: 79
- Watchers: 8
- Forks: 11
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Closed-Loop Next-Best-View Planning for Target-Driven Grasping
This repository contains the implementation of our IROS 2022 submission, _"Closed-Loop Next-Best-View Planning for Target-Driven Grasping"_. [[Paper](http://arxiv.org/abs/2207.10543)][[Video](https://youtu.be/67W_VbSsAMQ)]
## Setup
The experiments were conducted with a Franka Emika Panda arm and a Realsense D435 attached to the wrist of the robot. The code was developed and tested on Ubuntu 20.04 with ROS Noetic. It depends on the following external packages:
- [MoveIt](https://github.com/ros-planning/panda_moveit_config)
- [robot_helpers](https://github.com/mbreyer/robot_helpers)
- [TRAC-IK](http://wiki.ros.org/trac_ik)
- [VGN](https://github.com/ethz-asl/vgn/tree/devel)
- franka_ros and realsense2_camera (only required for hardware experiments)
Additional Python dependencies can be installed with
```
pip install -r requirements.txt
```
Run `catkin build active_grasp` to build the package.
Finally, download the [assets folder](https://drive.google.com/file/d/1xJF9Cd82ybCH3nCdXtQRktTr4swDcNFD/view) and extract it inside the repository.
## Experiments
Start a roscore.
```
roscore
```
To run simulation experiments.
```
roslaunch active_grasp env.launch sim:=true
python3 scripts/run.py nbv
```
To run real-world experiments.
```
roslaunch active_grasp hw.launch
roslaunch active_grasp env.launch sim:=false
python3 scripts/run.py nbv --wait-for-input
```