{"id":25665482,"url":"https://github.com/matheuscavini/irobman_finalproject","last_synced_at":"2026-05-16T09:35:24.122Z","repository":{"id":277857418,"uuid":"929907945","full_name":"MatheusCavini/iRobMan_FinalProject","owner":"MatheusCavini","description":"Final Project for the course \"Intelligent Robotic Manipulation\" (WiSe 2024/25) at TU Darmstadt","archived":false,"fork":false,"pushed_at":"2025-04-05T20:28:55.000Z","size":324,"stargazers_count":1,"open_issues_count":0,"forks_count":0,"subscribers_count":1,"default_branch":"main","last_synced_at":"2025-04-05T21:25:28.505Z","etag":null,"topics":["computer-vision","grasping","kalman-filter","kalman-tracking","motion-planning","pybullet","python","robotics","robotics-simulation","ycb-objects"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/MatheusCavini.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null}},"created_at":"2025-02-09T17:17:59.000Z","updated_at":"2025-04-05T20:28:58.000Z","dependencies_parsed_at":null,"dependency_job_id":"8cbea757-a5ce-4729-a24f-7d503451c33b","html_url":"https://github.com/MatheusCavini/iRobMan_FinalProject","commit_stats":null,"previous_names":["matheuscavini/irobman_finalproject"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/MatheusCavini/iRobMan_FinalProject","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MatheusCavini%2FiRobMan_FinalProject","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MatheusCavini%2FiRobMan_FinalProject/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MatheusCavini%2FiRobMan_FinalProject/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MatheusCavini%2FiRobMan_FinalProject/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/MatheusCavini","download_url":"https://codeload.github.com/MatheusCavini/iRobMan_FinalProject/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/MatheusCavini%2FiRobMan_FinalProject/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":33097017,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-16T04:41:52.686Z","status":"ssl_error","status_checked_at":"2026-05-16T04:41:52.009Z","response_time":115,"last_error":"SSL_connect returned=1 errno=0 peeraddr=140.82.121.5:443 state=error: unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["computer-vision","grasping","kalman-filter","kalman-tracking","motion-planning","pybullet","python","robotics","robotics-simulation","ycb-objects"],"created_at":"2025-02-24T07:19:13.774Z","updated_at":"2026-05-16T09:35:24.117Z","avatar_url":"https://github.com/MatheusCavini.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Intelligent Robotic Manipulation (WiSe 2024/25) - Final Project\n\n### Authors:\n- **Daniel Bellardi Kerzner** - 2445155  \n- **Matheus Latorre Cavini** - 2261960  \n\n---\n\n## Project Overview\n\nThis project simulates a robotic manipulation task using a 7-DOF robotic arm in a simulated environment. The robot is tasked with grasping, transporting, and placing an object while avoiding obstacles. The simulation is implemented in Python using the `pybullet` library for physics-based robotics simulation.\n\n### Key Features:\n- **Perception**: Object detection and 6D pose estimation using RGB-D cameras.\n- **Control**: End-effector pose control using Jacobian-based inverse kinematics.\n- **Grasping**: Grasp generation using the GIGA library and point cloud data.\n- **Localization and Tracking**: Obstacle tracking using Kalman filters.\n- **Planning**: Trajectory planning with collision avoidance using RRT*.\n\n---\n\n## Dependencies\n\nThe project requires the following Python libraries:\n\n- **Core Libraries**:\n  - `numpy`\n  - `pybullet`\n  - `pybullet_object_models`\n  - `open3d`\n  - `trimesh`\n  - `scipy`\n  - `yaml`\n\n- **Computer Vision**:\n  - `opencv-python`\n\n- **Kalman Filtering**:\n  - `filterpy`\n\n- **Grasp Generation**:\n  - `giga` (Grasp generation library)\n\n---\n\n## Installation Instructions\n\n1. **Clone the Repository**:\n   ```bash\n   git clone https://github.com/your-repo/irobman-wise-2425-final-project.git\n   cd irobman-wise-2425-final-project\n   ```\n\n2. **Set Up a Python Virtual Environment**:\n   ```bash\n   python -m venv venv\n   source venv/bin/activate  # On Windows: venv\\Scripts\\activate\n   ```\n\n3. **Install Dependencies**:\n   Manually install the dependencies:\n   ```bash\n   pip install numpy pybullet open3d trimesh scipy yaml opencv-python filterpy giga\n   ```\n\n4. **Download YCB Object Models**:\n   The simulation uses YCB object models. Ensure the `pybullet_object_models` library is installed and the YCB dataset is downloaded. If not, follow the instructions:\n\n   ```bash\n      git clone https://github.com/eleramp/pybullet-object-models.git # inside the irobman_project folder\n      pip install -e pybullet-object-models/\n   ```\n\n---\n\n## Running the Simulation\n\n1. **Edit Configuration**:\n   The simulation settings can be modified in the `test_config.yaml file`. \n\n2. **Run the Main Script**:\n   Execute the simulation by running:\n   ```bash\n   python main.py\n   ```\n\n3. **Simulation Output**:\n   - The simulation will display the robot's actions in the PyBullet GUI (if enabled in the configuration).\n   - Logs will be printed to the console, detailing the robot's state, object detection, and trajectory planning.\n\n---\n\n## Project Structure\n\n```\nirobman-wise-2425-final-project/\n├── configs/\n│   └── test_config.yaml         # Configuration file for the simulation\n├── src/\n│   ├── simulation.py            # Main simulation class\n│   ├── robot.py                 # Robot control and kinematics\n│   ├── objects.py               # Object and obstacle definitions\n│   ├── obstacleDetection.py     # Obstacle detection and tracking\n│   ├── grasp_generator.py       # Grasp generation using GIGA\n│   ├── trajectoryGeneration.py  # Trajectory planning (RRT*)\n│   ├── stateMachine.py          # State machine for task execution\n│   └── utils.py                 # Utility functions\n├── main.py                      # Entry point for the simulation\n├── README.md                    # Project documentation\n└── .gitignore                   # Git ignore file\n```\n\n---\n\n## Notes\n\n- **Performance Optimization**:\n  - The simulation disables unnecessary rendering and shadows for better performance.\n  - Camera rendering is limited to specific intervals to reduce computational load.\n\n- **Debugging**:\n  - Debugging information, such as obstacle positions and robot states, is printed to the console.\n  - Uncomment visualization functions in the code to enable 3D visualizations of point clouds and trajectories.\n\n---\n\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmatheuscavini%2Firobman_finalproject","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fmatheuscavini%2Firobman_finalproject","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fmatheuscavini%2Firobman_finalproject/lists"}