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Robotology (@robotology)

robotology

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yarp

YARP - Yet Another Robot Platform

how-to-export-cpp-library

An OS-agnostic C++ library template in plain CMake.

osqp-eigen

Simple Eigen-C++ wrapper for OSQP library

gym-ignition

Framework for developing OpenAI Gym robotics environments simulated with Ignition Gazebo

idyntree

Multibody Dynamics Library designed for Free Floating Robots

human-gazebo

URDF models of humans created to perform human robot interaction experiments.

icub-main

The iCub Main Software Repository

walking-controllers

Bipedal locomotion software for the humanoid robot platform iCub.

whole-body-controllers

Simulink-based whole body controllers for humanoid robots.

event-driven

neuromorphic sensor integration with YARP and iCub

human-dynamics-estimation

Software repository for estimating human dynamics

bayes-filters-lib

A flexible, modern, C++ recursive Bayesian estimation library.

blender-robotics-utils

Set of utilities for exporting/controlling your robot in Blender

gh-action-nightly-merge

Automatically merge the stable branch into the development one

ycm

YCM (YCM CMake modules) is a collection of various useful CMake modules.

robotology-superbuild

CMake/YCM-based superbuild to simplify the build process of robotology projects.

blockfactory

A tiny framework to wrap algorithms for dataflow programming

gazebo-yarp-plugins

Plugins to interface Gazebo with YARP.

icub-models

Official URDF and SDF models of the iCub humanoid robot.

simmechanics-to-urdf

Script for converting simmechanics XML files to URDF

walking-teleoperation

Software related to walking and teleoperation.

urdf2casadi-matlab

community

Virtual repository hosting Discussions and Questions & Answers

gym-ignition-models

Collection of robot models compatible with gym-ignition

wb-toolbox

Simulink toolbox to rapidly prototype robot controllers

gazebo-fmi

FMI import plugins for the Gazebo Simulator.

rfsmTools

A set of tools to execute, debug and create rFSM LUA-based state machines

whole-body-estimators

YARP devices that implement estimators for humanoid robots.

icub-tech-support

Virtual repository that provides support requests for individual robots

assistive-rehab

Assistive and Rehabilitative Robotics

Jupyter Notebook

icub-gazebo-grasping-sandbox

A public sandbox for simulating grasping in Gazebo with the iCub humanoid

unicycle-footstep-planner

Repository for the Unicycle-based FootStep Planner.

find-superquadric

Fit a partial point cloud with a superquadric

stereo-vision

Repository containing apps for stereo vision

icub-tutorials

Tutorials on iCub code

wearables

Data collection framework for wearable sensors

robot-testing-framework

Robot Testing Framework (RTF)

visual-tracking-control

A C++ visual tracking app of the iCub hand using a 3D model-aided particle filter.

icub-hri

iCub-HRI: A coherent framework for complex HRI scenarios on the iCub

how-to-document-modules

Scripts and templates to help you document your code nicely

icub-models-generator

Resources and programs to generated models (URDF, SDF) of the iCub robot

superquadric-lib

cer-sim

Official URDF and SDF models of the R1 humanoid robot.

superimpose-mesh-lib

A modern C++ augmented-reality library to superimpose 3D objects on images.

robometry

Telemetry suite for logging data from your robot 🤖

human-sensing

This repository contains software related to human sensing

robots-configuration

Contains robots configuration files

segmentation

Components for image segmentation

icub-firmware

sdf-modelica

URDF/SDF to to Modelica model converter.

speech

Apps for speech recognition and speech synthesis

icub-basic-demos

A container for basic demos illustrating some iCub capabilities

himrep

Hierarchical Image Representation

calibration-supervisor

Code for supervising camera calibration using optimized chessboard poses

cer

Contains SW specific to the R1 robots

yarp.js

JavaScript bindings for YARP!

navigation

Yarp modules and devices for autonomous navigation

skeleton3D

Bridge between 2D Tensorflow-based human pose estimation and 3D estimation from stereovision

yarp-devices-ros2

Plugins, devices and network wrappers for Yarp-ROS2 interoperation

blocktest

Test system for generic robot middlewares

gesture-recognition

This package contains modules that deal with gesture recognition

gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).

yarp-device-realsense2

realsense2 device for YARP (https://www.yarp.it/)

point-cloud-read

Module to acquire point clouds from iCub.

icub-tests

Contains tests for iCub robot Tests are written using the robot-testing framework

idyntree-yarp-tools

Tools based on the iDynTree library that depend on YARP.

funny-things

A collection of "funny" yet useful behaviors for the iCub

yarp-matlab-bindings

SWIG-based bindings of YARP for Matlab and Octave, based on the MEX C-API.

icub-firmware-models

Models underlying the iCub Firmware

tool-affordances

Repo for Affordance project related stuff

natural-speech

This repository contains a codebase to build automatic speech recognition (ASR) systems for iCub and run them within YARP. It also proposes new articulatory-based and unsupervised models for ASR.

superquadric-model

Framework for modeling and visualizing objects through superquadrics

robotology-superbuild-dependencies-vcpkg

Pre-compiled vcpkg root with Windows binary dependencies of the robotology-superbuild

superbuild-example

This is a simple repository that shows how to make a superbuild project.

online-detection-demo

Fast object detection learning with CNN and kernel based architecture

superquadric-grasp

Framework for grasping object using superquadric models

yarp-device-xsensmt

YARP Device Driver for XSens MT* devices based on the MT Software Suite.

yarp-device-ultrapython

Contains a YARP device driver supporting the UltraPython cameras

robotology-vcpkg-ports

Collection of vcpkg ports available on limited platforms just in binary form.

cardinal-points-grasp

Simple superquadric-based grasping pose generator for iCub

yarp-devices-haptic

Generic YARP driver for Haptic Devices

yarp-devices-forcetorque

YARP Drivers for various commercial Force Torque sensors.

attention

Multimodal Attention System for the iCub

c4d-icub-plugins

plugins for Cinema4D

yarp-omega3

Simple YARP-based server to send position/force set points to a Force Dimension Omega.3 robot

poeticon

This is the repository of the POETICON++ EU project http://www.poeticon.eu

superquadric-grasp-demo

Object modeling and grasping with superquadrics and visual-servoing

icub-firmware-shared

Protocols and Other Stuff Used both by iCub Firmware and iCub Software

d4c

Dynamic Force Field Control

visual-tactile-localization

In-hand object tracking for the iCub humanoid robot.

icub-workspace-estimation

This repository deals with the task of computing the workspace of the iCub given a proper kinematic representation.

iCubWorld

This repository contains the iCubWorld dataset.

yarp-device-ovrheadset

LibOVR device for YARP (https://www.yarp.it/)

vagrant-icub

Vagrant configurations files to create VirtualBox virtual machine with YARP and iCub-main sources and dependancies

yarp-device-pylon

Contains a YARP device driver supporting the Basler cameras

iol

Interactive Objects Learning

yarp-device-vicon-bridge

This is a yarp device driver providing data from VICON motion capture systems.

visuomotor-learning

icub-contrib-common

Meta-package to configure contrib modules and libraries

onthefly-recognition