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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 ## 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 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:
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) - [MoveIt](https://github.com/ros-planning/panda_moveit_config)
- [robot_helpers](https://github.com/mbreyer/robot_helpers) - [robot_helpers](https://github.com/mbreyer/robot_helpers)
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pip install -r requirements.txt 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 ## Experiments
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To run simulation experiments. To run simulation experiments.
``` ```
# Start the simulation environment
roslaunch active_grasp env.launch sim:=true roslaunch active_grasp env.launch sim:=true
# Run the experiment
python3 scripts/run.py nbv python3 scripts/run.py nbv
``` ```
To run real world experiments. To run real-world experiments.
``` ```
# Start the hardware drivers
roslaunch active_grasp hw.launch roslaunch active_grasp hw.launch
# Launch the hw environment
roslaunch active_grasp env.launch sim:=false roslaunch active_grasp env.launch sim:=false
# Run the experiment
python3 scripts/run.py nbv --wait-for-input python3 scripts/run.py nbv --wait-for-input
``` ```