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Michel Breyer 2022-07-21 12:48:13 +02:00
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# active_grasp
# Closed-Loop Next-Best-View Planning for Target-Driven Grasping
Accompanying code for our IROS 2022 submission: 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"_.
## Setup
While the policies are hardware-agnostic, the experiments are designed to work with a Franka Emika Panda and an Intel 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:
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)
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pip install -r requirements.txt
```
Download the [assets folder](https://drive.google.com/file/d/1JzbEOVZ8qVRtOrQt15h9teUk8sVu-YGP/view) and place it inside the cloned repository.
Run `catkin build active_grasp` to build the package.
Finally, run `catkin build active_grasp` to build the package.
Finally, download the [assets folder](https://drive.google.com/file/d/1JzbEOVZ8qVRtOrQt15h9teUk8sVu-YGP/view) and extract it inside the repository.
## Experiments
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To run simulation experiments.
```
# Start the simulation environment
roslaunch active_grasp env.launch sim:=true
# Run the experiment
python3 scripts/run.py nbv
```
To run real world experiments.
To run real-world experiments.
```
# Start the hardware drivers
roslaunch active_grasp hw.launch
# Launch the hw environment
roslaunch active_grasp env.launch sim:=false
# Run the experiment
python3 scripts/run.py nbv --wait-for-input
```