robotology/icub-main

Integrated Development Environment YAML

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robotology/icub-main

robotology

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The iCub Main Software Repository

iCub

Maintainers

This repository is maintained by:


	@pattacini

See COPYING and AUTHORS for licensing info, authors and copyright holders.

The iCub manual contains more details about the structure of the repository and how the code is organized. The manual is available online at: http://wiki.icub.org/wiki/Manual and is the most up to date source of information.

Direct link to installation instructions: https://icub-tech-iit.github.io/documentation/sw_installation.

Contributing

We accept contributions via forks and pull-requests.

Working on your first Pull Request? You can learn how from this free series How to Contribute to an Open Source Project on GitHub

yarp

YARP - Yet Another Robot Platform

osqp-eigen

Simple Eigen-C++ wrapper for OSQP library

how-to-export-cpp-library

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

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.

walking-controllers

Bipedal locomotion software for the humanoid robot platform iCub.

whole-body-controllers

Simulink-based whole body controllers for humanoid robots.

human-dynamics-estimation

Software repository for estimating human dynamics

event-driven

neuromorphic sensor integration with YARP and iCub

bayes-filters-lib

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

blender-robotics-utils

Set of utilities for exporting/controlling your robot in Blender

ycm-cmake-modules

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

gh-action-nightly-merge

Automatically merge the stable branch into the development one

robotology-superbuild

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

blockfactory

A tiny framework to wrap algorithms for dataflow programming

simmechanics-to-urdf

Script for converting simmechanics XML files to URDF

gazebo-yarp-plugins

Plugins to interface Gazebo with YARP.

icub-models

Official URDF and SDF models of the iCub humanoid robot.

walking-teleoperation

Software related to walking and teleoperation.

urdf2casadi-matlab

whole-body-estimators

YARP devices that implement estimators for humanoid robots.

community

Virtual repository hosting Discussions and Questions & Answers

gazebo-fmi

FMI import plugins for the Gazebo Simulator.

gym-ignition-models

Collection of robot models compatible with gym-ignition

wb-toolbox

Simulink toolbox to rapidly prototype robot controllers

rfsmTools

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

icub-gazebo-grasping-sandbox

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

stereo-vision

Repository containing apps for stereo vision

icub-tech-support

Virtual repository that provides support requests for individual robots

assistive-rehab

Assistive and Rehabilitative Robotics

Jupyter Notebook

unicycle-footstep-planner

Repository for the Unicycle-based FootStep Planner.

find-superquadric

Fit a partial point cloud with a superquadric

wearables

Code moved to https://github.com/robotology/human-dynamics-estimation

icub-tutorials

Tutorials on iCub code

robot-testing-framework

Robot Testing Framework (RTF)

superquadric-lib

cer-sim

Official URDF and SDF models of the R1 humanoid robot.

visual-tracking-control

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

superimpose-mesh-lib

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

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

robometry

Telemetry suite for logging data from your robot 🤖

icub-models-generator

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

sdf-modelica

URDF/SDF to to Modelica model converter.

robots-configuration

Contains robots configuration files

human-sensing

This repository contains software related to human sensing

icub-firmware

segmentation

Components for image segmentation

icub-basic-demos

A container for basic demos illustrating some iCub capabilities

speech

Apps for speech recognition and speech synthesis

skeleton3D

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

himrep

Hierarchical Image Representation

calibration-supervisor

Code for supervising camera calibration using optimized chessboard poses

yarp-devices-ros2

Plugins, devices and network wrappers for Yarp-ROS2 interoperation

cer

Contains SW specific to the R1 robots

yarp.js

JavaScript bindings for YARP!

navigation

Yarp modules and devices for autonomous navigation

gz-sim-yarp-plugins

YARP plugins for Modern Gazebo (gz-sim).

blocktest

Test system for generic robot middlewares

gesture-recognition

This package contains modules that deal with gesture recognition

yarp-device-realsense2

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

robotology-superbuild-dependencies-vcpkg

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

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.

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

superquadric-grasp

Framework for grasping object using superquadric models

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.

tool-affordances

Repo for Affordance project related stuff

superquadric-model

Framework for modeling and visualizing objects through superquadrics

robotology-vcpkg-ports

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

funny-things

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

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

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

cardinal-points-grasp

Simple superquadric-based grasping pose generator for iCub

icub-firmware-shared

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

yarp-devices-haptic

Generic YARP driver for Haptic Devices

d4c

Dynamic Force Field Control

yarp-devices-forcetorque

YARP Drivers for various commercial Force Torque sensors.

c4d-icub-plugins

plugins for Cinema4D

attention

Multimodal Attention System for the iCub

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

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.

icub-firmware-build

iCub Firmware Builds

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

yarp-device-argus

Contains a YARP device driver supporting the Framos 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