Welcome to LAR@Home CHARMIE ROS2 Workspace Repository :mechanical_arm: :portugal:
- Project Description :book:
- Requirements :rocket:
- RoboCup@Home Qualification Videos :robot:
- Videos from Pevious Events :gear:
- Results :trophy:
- Extended Scores :chart_with_upwards_trend:
- Contributors :technologist:
- Social Media :handshake:
:book: Project Description
CHARMIE is a domestic and healthcare service and assistive robot capable of performing tasks in non-standardized environments. The social goal for CHARMIE is to develop a robot capable of aiding in family homes, nursing homes, and healthcare facilities. The scientific objective of CHARMIE is the development of a multifaceted anthropomorphic robot capable of performing a broad set of tasks based solely on machine learning solutions that allow the robot to learn how to perform and improve tasks via observation and trial-and-error interactions with the environment. RoboCup@Home is an international robotics competition that aims to develop service and assistive robotic technology with high relevance for future personal domestic applications. The efficiency and effectiveness in the day-to-day tasks of CHARMIE are benchmarked in RoboCup@Home.
:rocket: Requirements
OS: Ubuntu 22.04 LTS
Python: 3.10
ROS2: Humble
Arm (UFACTORY xArm 6): xArm Humble Repo To setup the arm in your workspace, please follow the preparation steps on the xArm Humble repository.
Cameras (IntelRealsense 455 and 405): Realsense Repo To setup the realsense package in your workspace, please follow the installation steps on the Intel Realsense repository.
:robot: RoboCup@Home Qualification Videos
RoboCup@Home 2025 :brazil:
Youtube Link for 2025 Qualification Video
RoboCup@Home 2024 :netherlands:
Youtube Link for 2024 Qualification Video
RoboCup@Home 2023 :fr:
Youtube Link for 2023 Qualification Video
:gear: Videos from Previous Events
RoboCup 2024 :netherlands:
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### Enhanced General Purpose Service Robot (RoboCup 2024) [](https://www.youtube.com/watch?v=7iA6JAMG6Cc) [Youtube Link for Enhanced General Purpose Service Robot Task from RoboCup 2024](https://www.youtube.com/watch?v=7iA6JAMG6Cc) ### Stickler for the Rules (RoboCup 2024) [](https://www.youtube.com/watch?v=3MXXbcImCNI) [Youtube Link for Stickler for the Rules Task from RoboCup 2024](https://www.youtube.com/watch?v=3MXXbcImCNI) ### Clean the Table (RoboCup 2024) [](https://www.youtube.com/watch?v=5oIssDpQ8qg) [Youtube Link for Clean the Table Task from RoboCup 2024](https://www.youtube.com/watch?v=5oIssDpQ8qg) ### Serve Breakfast (RoboCup 2024) [](https://www.youtube.com/watch?v=xynH8cUdYko) [Youtube Link for Serve Breakfast Task from RoboCup 2024](https://www.youtube.com/watch?v=xynH8cUdYko) ### Receptionist (RoboCup 2024) [](https://www.youtube.com/watch?v=h5yJNZq_GOI) [Youtube Link for Receptionist Task from RoboCup 2024](https://www.youtube.com/watch?v=h5yJNZq_GOI) ### Furniture Interactions (RoboCup 2024) [](https://www.youtube.com/watch?v=MC85YfgHG8c) [Youtube Link for Furniture Interactions from RoboCup 2024](https://www.youtube.com/watch?v=MC85YfgHG8c)RoboCup Portugal Open 2024 :portugal:
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### Stickler for the Rules (RoboCup Portugal Open 2024) [](https://www.youtube.com/watch?v=XCICAehz3OE) [Youtube Link for Stickler for the Rules Task from RoboCup Portugal Open 2024](https://www.youtube.com/watch?v=XCICAehz3OE) ### Restaurant (RoboCup Portugal Open 2024) [](https://www.youtube.com/watch?v=AKYIMY_POO4) [Youtube Link for Restaurant Task from RoboCup Portugal Open 2024](https://www.youtube.com/watch?v=AKYIMY_POO4) ### Serve Breakfast (RoboCup Portugal Open 2024) [](https://www.youtube.com/watch?v=ZhBd1PQpAB0) [Youtube Link for Serve Breakfast Task from RoboCup Portugal Open 2024](https://www.youtube.com/watch?v=ZhBd1PQpAB0) ### Storing Groceries (RoboCup Portugal Open 2024) [](https://www.youtube.com/watch?v=_QoUEJi4D6c) [Youtube Link for Storing Groceries Task from RoboCup Portugal Open 2024](https://www.youtube.com/watch?v=_QoUEJi4D6c) ### Receptionist (RoboCup Portugal Open 2024) [](https://www.youtube.com/watch?v=1B0Hf0hebCI) [Youtube Link for Receptionist Task from RoboCup Portugal Open 2024](https://www.youtube.com/watch?v=1B0Hf0hebCI) ### Carry my Luggage (RoboCup Portugal Open 2024) [](https://www.youtube.com/watch?v=jc68am8VqAk) [Youtube Link for Carry my Luggage Task from RoboCup Portugal Open 2024](https://www.youtube.com/watch?v=jc68am8VqAk)RoboCup 2023 :fr:
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## Receptionist (RoboCup 2023) [](https://www.youtube.com/watch?v=rYzFhlLRpxc) [Youtube Link for Receptionist Task from RoboCup 2023](https://m.youtube.com/watch?v=rYzFhlLRpxc):trophy: Results
| Event | Ranking | Points |
|---|---|---|
| RoboCup 2024 | 5/17 | 2819 |
| RoboCup Portugal Open 2024 | 1/3 | 3140 |
| RoboCup 2023 | 7/15 | 932 |
| RoboCup Portugal Open 2023 | 3/3 | 400 |
:chart_with_upwards_trend: Extended Scores
2024
| Event | Poster | Carry My Luggage | Receptionist | Storing Groceries | Serve Breakfast | GPSR | Total Stage 1 | Clean the Table | Restaurant | Stickler for the rules | EGPSR | Total Stage 2 | Total Event |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RoboCup 2024 | 34 | 15 | 700 | 15 | 480 | - | 1244 | 525 | 100 | 800 | 150 | 1575 | 2819 |
| RoboCup Portugal Open 2024 | - | 115 | 645 | 135 | 610 | - | 1505 | 15 | 1120 | 500 | - | 1635 | 3140 |
2023
| Event | Poster | Carry My Luggage | Receptionist | Storing Groceries | Serve Breakfast | GPSR | Total Stage 1 | Clean the Table | Restaurant | Stickler for the rules | EGPSR | Total Stage 2 | Total Event |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
| RoboCup 2023 | 32 | 0 | 800 | - | - | - | 832 | - | 0 | 100 | - | 100 | 932 |
| RoboCup Portugal Open 2023 | - | - | 400 | - | - | - | 400 | - | - | - | - | 0 | 400 |
:technologist: Contributors:
:handshake: Connect with us
