hitl_clutter

Papallas et al ~ ICRA 2020 Paper: "Non-Prehensile Manipulation in Clutter with Human-In-The-Loop"

https://github.com/rpapallas/hitl_clutter

Science Score: 44.0%

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Scientific vocabulary similarity
Low similarity (9.1%) to scientific vocabulary

Keywords

icra2020 motion-planning mujoco robotics

Last synced: 6 months ago · JSON representation ·

Repository

Papallas et al ~ ICRA 2020 Paper: "Non-Prehensile Manipulation in Clutter with Human-In-The-Loop"

Basic Info

Host: GitHub
Owner: rpapallas
License: gpl-3.0
Language: C
Default Branch: master
Homepage: https://rpapallas.com/publications/icra-2020-non-prehensile-manipulation-in-clutter-with-hitl/
Size: 3.74 MB

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icra2020 motion-planning mujoco robotics

Created over 6 years ago · Last pushed over 3 years ago

Metadata Files

Readme License Citation

Non-Prehensile Manipulation in Clutter with Human-In-The-Loop

This work is to appear in the proceedings of IEEE International Conference on Robotics and Automation (ICRA) 2020. More details about the paper here.

Installation

Ubuntu 14.04
You need ROS (Indigo).
Boost 1.64 (locally installed on Ubuntu 14.04).
OMPL installed from source.
MuJoCo 200

Configuration

You need to change in MujocoGlobal.cpp the path to PROJECT_ROOT_PATH and MJ_KEY_PATH to your paths.
You need to obtain a MuJoCo license.

Demos

To run the demos on specific scenes use the following commands:

GRTC-HITL:

shell script rosrun nonprehensile_planning grtc_hitl <scene_name>.xml <number_of_objects> <planner_name>

GRTC-Heuristic:

shell script rosrun nonprehensile_planning grtc_heuristic <scene_name>.xml <number_of_objects> <planner_name>

RRT/KPIECE:

shell script rosrun nonprehensile_planning rtc <scene_name>.xml <number_of_objects> <planner_name>

Where <scene_name> could be s1, s2, ..., s10 or parallel_1, parallel_2, ..., parallel_20. The <number_of_objects> should be the number of objects in the scene, which should be 10 for all the scenes provided. The value for <planner_name> can be either RRT or KPIECE (case-sensitive).

License & Acknowledgments

This work is licensed under GPLv3. The full license can be found here.

Authors are with the School of Computing, University of Leeds, United Kingdom.

This research has received funding from the European Union’s Horizon 2020 research and innovation programme under the Marie Skłodowska-Curie grants agreement No. 746143, and from the UK Engineering and Physical Sciences Research Council under grant EP/N509681/1, EP/P019560/1 and EP/R031193/1.

Citation

If you used this work or part of this work in your work, please consider citing the paper below.

Bibtex

@inproceedings{papallas2020, title={Non-Prehensile Manipulation in Clutter with Human-In-The-Loop}, author={Papallas, Rafael and Dogar, Mehmet R}, booktitle={{IEEE} International Conference on Robotics and Automation}, year={2020} }

Plain

Papallas, R. and Dogar, M.R., 2020. Non-Prehensile Manipulation in Clutter with Human-In-The-Loop. IEEE International Conference on Robotics and Automation.

Owner

Name: Rafael Papallas
Login: rpapallas
Kind: user
Location: Paphos, Cyprus
Company: Computer Science, AUB Mediterraneo

Website: rpapallas.com
Repositories: 34
Profile: https://github.com/rpapallas

Assistant Professor @ AUB Mediterraneo in Paphos, Cyprus.

Citation (CITATION.cff)

cff-version: 1.2.0
message: "If you use this software, please cite it as below."
authors:
- family-names: "Papallas"
  given-names: "Rafael"
  orcid: "https://orcid.org/0000-0003-3892-1940"
- family-names: "Dogar"
  given-names: "Mehmet"
  orcid: "https://orcid.org/0000-0002-6896-5461"
title: "Non-Prehensile Manipulation in Clutter with Human-in-the-Loop"
version: 1.0.0
doi: 10.1109/ICRA40945.2020.9196689
date-released: 2020-07-02
url: "https://ieeexplore.ieee.org/abstract/document/9196689"

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