/icub-gazebo-grasping-sandbox

A public sandbox for simulating grasping in Gazebo with the iCub humanoid

Primary LanguageC++BSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

Sandbox to Simulate Grasping in Gazebo with the iCub

DOI ZenHub Community

This sandbox allows you to experiment with iCub performing basic object grasping within the Gazebo simulator.

☁ Instructions to run the sandbox on the web

We make use of the Gitpod Cloud IDE as infrastructure. Find out more on YARP-enabled Gitpod workspaces.

Here's below a quick how-to guide; please, refer to the section πŸšΆπŸ»β€β™‚οΈ Walkthrough for an extensive video tutorial πŸŽ₯

  1. To get started with the sandbox, click on the following badge:

    Gitpod

  2. Once the sandbox workspace is ready, build and install the project:

    cd /workspace/icub-gazebo-grasping-sandbox 
    mkdir build && cd build
    cmake ../
    make install
  3. From within Gitpod, open up the browser at the port 6080 to get to the workspace desktop GUI.

  4. In the desktop GUI, open a terminal and run the grasping experiment:

    icub-grasp.sh
  5. If needed, you can clean up hanging resources by specifying the option clean:

    icub-grasp.sh clean

β„Ή Manual installation

If you want to install the sandbox manually to perform specific customization (e.g. enable GPU), please refer to the recipe contained in the Dockerfile.

πŸ“š Cite the sandbox

In case you use this sandbox for your work, please quote it within any resulting publication by citing this repository and/or the paper where you can find the original implementation of the grasping method:

  • P. D. H. Nguyen, F. Bottarel, U. Pattacini, M. Hoffmann, L. Natale and G. Metta, "Merging Physical and Social Interaction for Effective Human-Robot Collaboration," 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018, pp. 1-9, doi: 10.1109/HUMANOIDS.2018.8625030.
πŸ”˜ Click to show other papers describing foundamental components used in the sandbox Motion control of iCub in the operational space:
  • U. Pattacini, F. Nori, L. Natale, G. Metta and G. Sandini, "An experimental evaluation of a novel minimum-jerk cartesian controller for humanoid robots," 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, Taipei, 2010, pp. 1668-1674, doi: 10.1109/IROS.2010.5650851.
  • A. Roncone, U. Pattacini, G. Metta and L. Natale, "A Cartesian 6-DoF Gaze Controller for Humanoid Robots", Proceedings of Robotics: Science and Systems, Ann Arbor, MI, June 18-22, 2016, doi: 10.15607/RSS.2016.XII.022.
Interoperability between iCub and Gazebo:
  • M. Hoffman E., S. Traversaro, A. Rocchi, M. Ferrati, A. Settimi, F. Romano, L. Natale, A. Bicchi, F. Nori and N. G. Tsagarakis, "Yarp Based Plugins for Gazebo Simulator". In: Hodicky J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2014. Lecture Notes in Computer Science, vol 8906. Springer, Cham. pp 333-346, doi: 10.1007/978-3-319-13823-7_29.

πŸ‘¨πŸ»β€πŸ’» Maintainers

This repository is maintained by:

@pattacini

πŸ™ Acknowledgements

πŸ†• Contributing

Check out our CONTRIBUTING guidelines.