This sandbox allows you to experiment with iCub performing basic object grasping within the Gazebo simulator.
Here's below a quick how-to guide. For a more detailed description of the grasping pipeline, please refer to the 🚶🏻♂️ Walkthrough.
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To get started with the sandbox, click on the following badge:
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Once the sandbox workspace is ready, do the following:
- Click on the PORTS tab.
- Click on the browser icon 🌐 next to the nvc port
6080to open the desktop view.
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Within the terminal, build and install the project:
cmake -S . -B build cmake --build build/ --target install
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Run the grasping experiment:
icub-grasp.shYou will see the robot in action in the desktop view.
Also:
- You can run a systematic test with always the same object in the same pose by specifying the option
test:Afterward, inspect relevant quantities logged inicub-grasp.sh test/tmp/icub-gazebo-grasping-sandbox.INFO. - If needed, you can clean up hanging resources by specifying the option
clean:icub-grasp.sh clean
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.
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.
- 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.
This repository is maintained by:
| @pattacini |
- This sandbox was made possible thanks to xEnVrE of the HSP@IIT group for his contributions to
robotology/icub-modelson simulating visuo-manipulation tasks in Gazebo. - Inspired by the simplified simulation environment available in
shadow-robot/smart_grasping_sandbox.
Check out our CONTRIBUTING guidelines.