This repository contains the implementation of our IROS 2022 submission, "Closed-Loop Next-Best-View Planning for Target-Driven Grasping". [Paper][Video]
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.
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