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:

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

GRTC-Heuristic:

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

RRT/KPIECE:

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.