GRASPA-test

This repo provides the modules to acquire on the iCub robot all the data needed by GRASP 1.0 (GRASPA is a Robotic Arm grAsping Performance benchmArk), a new benchmarking protocol recently proposed in the literature to evalute the performance of grasp planners. More information on GRASPA 1.0 is available at this link.

In particular, the repo contains the following modules:

• aruco-pose-estimation to estimate the 6D pose of the markers on the base of the layout and on the robot hand.
• camera-calibration-test to collect data to test the camera-kinematics calibration of the robot, as specified by the benchmark.
• reaching-test to collect data to test the reachibility of the robot, as specified by the benchmark.
• grasp-and-stability to execute the grasp, the trajectory to assess the grasp-stability and save the data as specified by the benchmark.

The aruco-pose-estimation module relies on gaze-ctril-lib, a high-level library to communicate with the iCub iKinGazeCtrl.

The experiment_data directory contains the results of thebenchmark evaluation on the iCub, as they will be published in the paper.

Dependencies

• YARP
• icub-main
• opencv (for the aruco-pose-estimation module)

How to compile the code

git clone https://github.com/robotology-playground/GRASPA-test.git
mkdir build
cd build
ccmake ..
make install

By default, all the modules provided within this repo are compiled. You can compile separately the modules by switching OFF the relative CMAKE variables.

How to run the code

The detailed information on how to run each module is available at the following links

• aruco-pose-estimation
• camera-calibration-test
• reaching-test
• grasp-and-stability