icub-gazebo-grasping-sandbox

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

https://github.com/robotology/icub-gazebo-grasping-sandbox

Science Score: 67.0%

This score indicates how likely this project is to be science-related based on various indicators:

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CITATION.cff file
Found CITATION.cff file
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codemeta.json file
Found codemeta.json file
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.zenodo.json file
Found .zenodo.json file
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DOI references
Found 15 DOI reference(s) in README
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Academic publication links
Links to: zenodo.org
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Committers with academic emails
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Institutional organization owner
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JOSS paper metadata
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Scientific vocabulary similarity
Low similarity (13.2%) to scientific vocabulary

Keywords

gazebo gitpod grasping humanoid-robots icub robotics sandbox simulating-grasping simulation

Last synced: 6 months ago · JSON representation ·

Repository

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

Basic Info

Host: GitHub
Owner: robotology
License: bsd-3-clause
Language: C++
Default Branch: master
Homepage: https://robotology.github.io/icub-gazebo-grasping-sandbox/
Size: 37.4 MB

Statistics

Stars: 23
Watchers: 4
Forks: 9
Open Issues: 0
Releases: 0

Topics

gazebo gitpod grasping humanoid-robots icub robotics sandbox simulating-grasping simulation

Created over 5 years ago · Last pushed over 1 year ago

Metadata Files

Readme Contributing License Citation Codeowners Security

Sandbox to Simulate Grasping in Gazebo with the iCub

🚶🏻‍♂️ Walkthrough

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 🚶🏻‍♂️ Walkthrough for an extensive video tutorial 🎥

To get started with the sandbox, click on the following badge:
Once the sandbox workspace is ready, build and install the project: console cmake -S . -B build cmake --build build/ --target install
Run the grasping experiment: console icub-grasp.sh
You can run a systematic test with always the same object in the same pose by specifying the option test: console icub-grasp.sh test Afterward, inspect relevant quantities logged in /tmp/icub-gazebo-grasping-sandbox.INFO.
If needed, you can clean up hanging resources by specifying the option clean: console icub-grasp.sh clean

🔽 Instructions to run the sandbox locally

ℹ 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.

📚 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.

🔘 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.

📃 List of works built on the sandbox

👨🏻‍💻 Maintainers

This repository is maintained by:

| | | |:---:|:---:| | | @pattacini |

🙏 Acknowledgements

This sandbox was made possible thanks to xEnVrE of the HSP@IIT group for his contributions to robotology/icub-models on simulating visuo-manipulation tasks in Gazebo.
Inspired by the simplified simulation environment available in shadow-robot/smart_grasping_sandbox.

🆕 Contributing

Check out our CONTRIBUTING guidelines.

Owner

Name: Robotology
Login: robotology
Kind: organization
Location: Italy

Website: https://icub.iit.it
Repositories: 142
Profile: https://github.com/robotology

Group software repositories of the iCub eco-system (but code developed is not necessarily iCub specific!).

Citation (CITATION.cff)

cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
- family-names: "Pattacini"
  given-names: "Ugo"
  orcid: "https://orcid.org/0000-0001-8754-1632"
- family-names: "Piga"
  given-names: "Nicola Agostino"
  orcid: "https://orcid.org/0000-0003-3183-8108"
- family-names: "Bottarel"
  given-names: "Fabrizio"
  orcid: "https://orcid.org/0000-0002-9377-8553"
- family-names: "Natale"
  given-names: "Lorenzo"
  orcid: "https://orcid.org/0000-0002-8777-5233"
- family-names: "Maggiali"
  given-names: "Marco"
  orcid: "https://orcid.org/0000-0001-6142-5545"
title: "icub-gazebo-grasping-sandbox"
version: v2.10.4
doi: 10.5281/zenodo.3999468
date-released: 2023-10-17
url: "https://github.com/robotology/icub-gazebo-grasping-sandbox"

GitHub Events

Total

Watch event: 3
Fork event: 2

Last Year

Watch event: 3
Fork event: 2

Committers

Last synced: 8 months ago

All Time

Total Commits: 257
Total Committers: 2
Avg Commits per committer: 128.5
Development Distribution Score (DDS): 0.008

Past Year

Commits: 0
Committers: 0
Avg Commits per committer: 0.0
Development Distribution Score (DDS): 0.0

Top Committers

Name	Email	Commits
Ugo Pattacini	u**i@i**t	255
Nicola Piga	n**a@g**m	2

Committer Domains (Top 20 + Academic)

iit.it: 1

Issues and Pull Requests

Last synced: 8 months ago

All Time

Total issues: 12
Total pull requests: 37
Average time to close issues: 10 days
Average time to close pull requests: 18 minutes
Total issue authors: 2
Total pull request authors: 2
Average comments per issue: 3.42
Average comments per pull request: 0.54
Merged pull requests: 37
Bot issues: 0
Bot pull requests: 0

Past Year

Issues: 0
Pull requests: 0
Average time to close issues: N/A
Average time to close pull requests: N/A
Issue authors: 0
Pull request authors: 0
Average comments per issue: 0
Average comments per pull request: 0
Merged pull requests: 0
Bot issues: 0
Bot pull requests: 0

View more stats

Top Authors

Issue Authors

pattacini (11)
xEnVrE (1)

Pull Request Authors

pattacini (34)
xEnVrE (2)

Top Labels

Issue Labels

🚀 enhancement (6) 🐛 bug (3) 👋🏻 help wanted (3) 🤖 gazebo (3) 🧪 science (3) 📚 documentation (2) 🔎 3d viewer (1) ⏺ ADR (1) 🐳 docker (1)

Pull Request Labels

🐳 docker (16) 🚀 enhancement (12) 🤖 gazebo (6) 🐛 bug (4) 📚 documentation (4) 🧪 science (4) 🔎 3d viewer (1)

Dependencies

.github/workflows/publish-docker.yml actions

actions/checkout main composite
elgohr/Publish-Docker-Github-Action main composite

dockerfiles/Dockerfile docker

ubuntu latest build