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Sandbox to Simulate Grasping in Gazebo with the iCub

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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 🎥

  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:

    cmake -S . -B build
    cmake --build build/ --target install
  3. Run the grasping experiment:

    icub-grasp.sh
  4. You can run a systematic test with always the same object in the same pose by specifying the option test:

    icub-grasp.sh test

    Afterward, inspect relevant quantities logged in /tmp/icub-gazebo-grasping-sandbox.INFO.

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

    icub-grasp.sh clean

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.

👨🏻‍💻 Maintainers

This repository is maintained by:

@pattacini

🙏 Acknowledgements

🆕 Contributing

Check out our CONTRIBUTING guidelines.