Roadmap

• Majority Vote
• Initial Poses for Manual Scenes

Updated installation steps fo my PC environment

Prerequisites

• Ubuntu 20.04
• CUDA 12.1
• ROS Noetic. Recommended installation method: 小鱼一键安装
• GS-Net: My GS-net repo. Run: python flask_server.py

Installation

# Install Active Grasp
sudo apt install liborocos-kdl-dev
mkdir -p ws/src && cd ws/src
git clone https://github.com/0nhc/active_grasp.git
conda create -n active_grasp python=3.8
cd active_grasp && conda activate active_grasp
pip install -r requirements.txt
conda install libffi==3.3
conda install conda-forge::python-orocos-kdl
cd ..
git clone https://github.com/0nhc/vgn.git -b devel
cd vgn
pip install -r requirements.txt
cd ..
git clone https://github.com/0nhc/robot_helpers.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin build

# Install Active Perception
cd ws/src/active_grasp/src/active_grasp/active_perception/modules/module_lib/pointnet2_utils/pointnet2
pip install -e .

Quick Start

# Terminal 1
conda activate active_grasp
cd ws
source devel/setup.bash
roslaunch active_grasp env.launch sim:=true

# Terminal 2
conda activate active_grasp
cd ws
source devel/setup.bash
cd src/active_grasp
python3 scripts/run.py ap-single-view

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][Video]

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
• robot_helpers
• TRAC-IK
• VGN
• 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 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