57 lines
1.4 KiB
Markdown
57 lines
1.4 KiB
Markdown
# active_grasp
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Accompanying code for our IROS 2022 submission: Closed-Loop Next-Best-View Planning for Target-Driven Grasping.
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## Setup
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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.
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The code was developed and tested on Ubuntu 20.04 with ROS Noetic. It depends on the following external packages:
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- [MoveIt](https://github.com/ros-planning/panda_moveit_config)
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- [robot_helpers](https://github.com/mbreyer/robot_helpers)
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- [TRAC-IK](http://wiki.ros.org/trac_ik)
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- [VGN](https://github.com/ethz-asl/vgn/tree/devel)
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- franka_ros and realsense2_camera (only required for hardware experiments)
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Additional Python dependencies can be installed with
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```
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pip install -r requirements.txt
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```
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Download the [assets folder](https://drive.google.com/file/d/1JzbEOVZ8qVRtOrQt15h9teUk8sVu-YGP/view) and place it inside the cloned repository.
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Finally, run `catkin build active_grasp` to build the package.
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## Experiments
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Start a roscore.
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```
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roscore
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```
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To run simulation experiments.
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```
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# Start the simulation environment
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roslaunch active_grasp env.launch sim:=true
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# Run the experiment
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python3 scripts/run.py nbv
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```
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To run real world experiments.
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```
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# Start the hardware drivers
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roslaunch active_grasp hw.launch
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# Launch the hw environment
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roslaunch active_grasp env.launch sim:=false
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# Run the experiment
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python3 scripts/run.py nbv --wait-for-input
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```
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