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Robot Commonsense Games

Home Page: http://robcog.org/

License: BSD 3-Clause "New" or "Revised" License

C# 45.70% C++ 20.80% C 4.52% Dockerfile 28.97%

robcog robotics ai artificial-intelligence commonsense-reasoning knowledge-representation vr

robcog's Introduction

Stable Masterbranch for new features please take a look into the dev branch.

UE Version: 4.27

Environments

Capabilities

C++ Coding Standards:

Asset Naming and Creation Convention:

Naming convention
Due to the connection with KnowRob currently all the models are sandboxed and self contained
- They are always located in a top folder called Models
- The leaf folder is always the KnowRob class name:
  - Models/IAIKitchen/IAIFurniture/IAIDiningTable/*
  - SM_IAIDiningTable
  - T_IAIDiningTable_N
  - T_IAIDiningTable_D
  - T_IAIDiningTable_S
  - T_IAIDiningTableTop
  - T_IAIDiningTableTop_S
  - M_IAIDiningTable
  - M_IAIDiningTableTop
  - M_IAIDiningTableFeet
  - ..

Submodules

The project points to various submodules (plugins, assets, private assets etc.). If you want to clone the project with submodules, see the following git commands:

after cloning the project, clone specific submodules:

$ git submodule update --init Content/Private
$ git submodule update --init Plugins/USemLog
$ git submodule update --init Plugins/UMongoC
[..]

all submodules:

$ git submodule update --init --recursive

or clone the repository with all the submodules:

$ git clone --recurse-submodules -b master https://github.com/robcog-iai/RobCoG.git

Build and Debug Project with Microsoft Visual Studio

First step is to generate visual studio files. Right click on RobCog UE file and select "Generate Visual Studio Project files"
Now Along with few folders, there will be RobCog.sln file in the directory. Open it with Visual Studio.
Once the RobCog project is open in Visual Studio, right click on RobCog and build the project.
Once build process is finished, right click on RobCog again and select "Set as Startup Project"
At last, select "DebugGame Editor" option and press "Local Windows Debugger" button.
Now the world of RobCog will be available in UE in Debug mode!

Documentation

Related publications

@inproceedings{haidu21ameva2,
  author    = {Andrei Haidu and Michael Beetz},
  title     = {Automated acquisition of structured, semantic models of manipulation activities from human VR demonstration},  
  booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
  year      = {2021},
  address   = {Xi'an, China},
  pages     = {9460-9466},
  url       = {https://doi.org/10.1109/ICRA48506.2021.9562016},
  note      = {Finalist for Best Paper Award on Human-Robot Interaction},
}

@inproceedings{haidu21amevacv,
 title      = {Knowledge-Enabled Generation of Semantically Annotated Image Sequences of Manipulation Activities from VR Demonstrations},
 author     = {Andrei Haidu and Xiaoyue Zhang and Michael Beetz}, 
 booktitle  = {Computer Vision Systems},
 year       = {2021},
 publisher  = {Springer International Publishing},
 pages      = {130--143},
 isbn       = {978-3-030-87156-7},
 url        = {https://doi.org/10.1007/978-3-030-87156-7_11}
}

@inproceedings{haidu19ameva,
  author    = {Andrei Haidu and Michael Beetz},
  title     = {Automated Models of Human Everyday Activity based on Game and Virtual Reality Technology},
  booktitle = {2019 International Conference on Robotics and Automation (ICRA)},
  year      = {2019},
  pages     = {2606-2612},
  url       = {https://doi.org/10.1109/ICRA.2019.8793859}
}

@inproceedings{haidu18krsim,
  author    = {Andrei Haidu and Daniel Bessler and Asil Kaan Bozcuoglu and Michael Beetz},
  title     = {KnowRob_SIM - Game Engine-Enabled Knowledge Processing Towards Cognition-Enabled Robot Control},
  booktitle = {{IEEE/RSJ} International Conference on Intelligent Robots and Systems, {IROS} 2018, Madrid, Spain, October 1-5, 2018},
  year      = {2018},
  url       = {https://doi.org/10.1109/IROS.2018.8593935}
}

robcog's People

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robcog's Issues

I can't install RobCoG

I can't install RobCoG because I don't know

Copy these two plugins to Unreal project's Plugins directory

I'm using Windows10 and UE4 v4.17.2.
Sorry, please tell me how to install RobCoG.

https://github.com/robcog-iai/RobCoG/tree/robosim/Documentation#installation

keep the robot state

hi, I want to know how to keep the joint position when I do not add force to joints. I tried to increase robot actor`s damping parameter, but it seemed that did nothing. thank you

RobCog couldnt be compiled for Macos

After I cloned the repo and install the plugins per the instruction in the README. I get "Missing RobCoG Modules. The following modules are missing or built with a different engine version:
RobCoG
SemLog
SemLogEd
Would you like to rebuild them now?"

After I click Yes, I get an error when I try to build this project on Macos : " RobCog couldnt be compiled for Macos. Try to build from source"
I also tried with Unreal versions 4.27 and 4.25 with the respective RobCoG branch. I tried to build from source but all the instructions I found support windows https://docs.unrealengine.com/4.26/en-US/ProductionPipelines/DevelopmentSetup/BuildingUnrealEngine/ . You can check the log file's output here https://pastebin.com/HYPLqj5U.
Please tell me if I missing something or how can I build from source on Mac Os.

Errors while building robosim

Hi, when I launch the RobCoG robosim project in UE4 (4.18) from a terminal, it asks me to rebuild the binaries and the plugins. It seems it succeed to build the plugins, but for the main source it gives me this error :

In file included from /home/cyril/Documents/Unreal_Projects/RobCoG/Source/RobCoG/RosStringSubScriber.cpp:3:
In file included from ../../../Documents/Unreal_Projects/RobCoG/Source/RobCoG/RosStringSubScriber.h:8:
../../../Documents/Unreal_Projects/RobCoG/Source/RobCoG/FROSStringSubScriber.h:14:22: error: variable has incomplete type 'class HELLOWORLD_API'
class HELLOWORLD_API FROSStringSubScriber : public FROSBridgeSubscriber {

I can't find where HELLOWORLD_API is defined.
Do you know how to solve this ?

Thanks, kind regards.

new in unreal robot simulation

hi, Im new in unreal also robot simulation. Your work is great for me. But I still have many problem in my project. At first, I drug a urdf model (pr2) into my unreal project and created ros-bridge communication by your plugins. Then I found the pr2 actor in unreal world could not stand on the other static mesh which i used it as scenario. Secondly I added a camera component with the robot actor. When I tried to move the robot actor by adding force to joints the actors location, rotation and the camera component did not move with the actor. When I tried to move the robot actor by set location the robot did not move.
Thirdly the robots arms and such components can not hold on itself. When I start play the game, the robots arms just hung down.
Can you give me some advice to solve my problem. Thank you very much.