nbv_sim/README.md

sudo apt install liborocos-kdl-dev
# follow instructions here to install pykdl: https://github.com/orocos/orocos_kinematics_dynamics/blob/master/python_orocos_kdl/INSTALL.md
# or

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/ethz-asl/vgn.git -b devel
cd vgn
pip install -r requirements.txt
cd ..
git clone https://github.com/mbreyer/robot_helpers.git
cd ..
rosdep install --from-paths src --ignore-src -r -y
catkin build

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