{"id":23300591,"url":"https://github.com/varun0157/image-based-visual-servoing","last_synced_at":"2025-08-22T05:33:14.884Z","repository":{"id":238545333,"uuid":"782347031","full_name":"Varun0157/Image-Based-Visual-Servoing","owner":"Varun0157","description":"Image Based Visual Servoing (IBVS) simulation in pybullet","archived":false,"fork":false,"pushed_at":"2024-11-08T08:00:07.000Z","size":27974,"stargazers_count":4,"open_issues_count":0,"forks_count":1,"subscribers_count":1,"default_branch":"main","last_synced_at":"2024-11-08T09:17:22.569Z","etag":null,"topics":["ibvs","robotics","robotics-simulation","visual-servoing"],"latest_commit_sha":null,"homepage":"","language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/Varun0157.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","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":"2024-04-05T05:52:38.000Z","updated_at":"2024-11-08T08:00:11.000Z","dependencies_parsed_at":"2024-05-11T17:23:49.331Z","dependency_job_id":"0a9e9ba2-1cf6-42d6-ac24-d1fc75522473","html_url":"https://github.com/Varun0157/Image-Based-Visual-Servoing","commit_stats":null,"previous_names":["varun0157/image-based-visual-servoing"],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Varun0157%2FImage-Based-Visual-Servoing","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Varun0157%2FImage-Based-Visual-Servoing/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Varun0157%2FImage-Based-Visual-Servoing/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/Varun0157%2FImage-Based-Visual-Servoing/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/Varun0157","download_url":"https://codeload.github.com/Varun0157/Image-Based-Visual-Servoing/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":230561024,"owners_count":18245328,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","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":["ibvs","robotics","robotics-simulation","visual-servoing"],"created_at":"2024-12-20T09:17:05.415Z","updated_at":"2025-08-22T05:33:14.867Z","avatar_url":"https://github.com/Varun0157.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Image Based Visual Servoing\n\nA simple IBVS simulation in `pybullet` built as a learning experiment as a part of my undergraduate research.\n\nThe initial code was built off of @roadrollerdafjorst's [IBVS sim](https://github.com/roadrollerdafjorst/visual-servoing/tree/main/IBVS) but has deviated since.\n\n## Instructions\n\n- `docs/env.yml` contains the conda environment config file.\n  Create an environment (here, called `ibvs`) and load it in as usual:\n\n```bash\ncd docs\nconda env create -f env.yml\nconda activate ibvs\n```\n\n- run the pybullet sim in `DIRECT` mode, with images saved to `src/img/`.\n\n```bash\ncd src\npython main.py\n```\n\n- if required, convert the images into an MP4 file for later analysis\n\n```bash\nbash create_vid.sh\n```\n\n## Demo\n\n| \u003cimg src=\"demo/target.png\" width=\"700\" /\u003e | \u003cimg src=\"demo/output.gif\" width=\"600\" /\u003e |\n| :---------------------------------------: | :---------------------------------------: |\n|               Target Image                |                Output GIF                 |\n\n## TODO\n\n- [ ] port to `airobot` to get rid of view matrix complexity\n- [ ] use a better target and scene\n- [ ] experiment with more complex dof.\n  - Currently simply taking the first three points' (x, y) coords as our 6 dof.\n- [ ] find out why the obstacles fall slowly in the p.DIRECT sim even though it does not seem to happen in p.GUI.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fvarun0157%2Fimage-based-visual-servoing","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fvarun0157%2Fimage-based-visual-servoing","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fvarun0157%2Fimage-based-visual-servoing/lists"}