📜 Paper

https://arxiv.org/abs/2510.14584 Benno Wingender*, Nils Dengler*, Rohit Menon, Sicong Pan, Maren Bennewitz

🐋 Installation

1. Download Docker
2. Download GPD and link path in devcontainer.json
3. Open VsCode install Dev Containers extension from Microsoft
4. In VsCode: ctrl + shift + p -> Dev Containers: Open Folder in Container -> Select Folder (MasterThesis)

⚠️ Also install

1. IsaacSim
2. GPD

🏗️ To run the main code

/bin/python /home/ws/src/placeability_scoring/placeability_scoring/UP4_Pipeline_curobo.py

🦾 Run GPD ROS2

ros2 launch gpd_ros ur5.launch.py

🦾 Moveit for arm movement in simulation

ros2 launch steve_config_moveit2 demo.launch.py