systems.md

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permalink: /systems/
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title:  "Systems"
excerpt: "ToBi Systems"
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  - url: /assets/images/system/mtc_approach.jpg
    image_path: /assets/images/system/mtc_approach_th.jpg
    title: "Grasp Task"
  - url: /assets/images/system/objrec-rviz.jpg
    image_path: /assets/images/system/objrec-rviz_th.jpg
    title: "Object Recognition visualization"
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    text: |
      - [Platforms](#platforms)
---

Our service robots employ distributed systems with multiple clients sharing information over network. On these clients there are numerous software components written in different programming languages.

We provide a full specification of the system in our [online catalog platform](https://citkat-citec.bob.ci.cit-ec.net/distribution/tiago-noetic-nightly.xml)

### Reuseable Behavior Modeling

For modeling the robot behavior in a flexible manner ToBI uses the [BonSAI](https://github.com/CentralLabFacilities/bonsai) framework. It is a domain-specific library that builds up on the concept of sensors and actuators that allow the linking of perception to action.

### Development and Deployment Tool-Chain

The software dependencies — from operating system dependencies to intercomponent relations — are completely modeled in the description of a system distribution which consists of a collection of so called recipes. In order to foster reproducibility, traceability, and potential software (component) re-use of the ToBI system, we provide a full specification of the different systems in our [online catalog platform](https://citkat-citec.bob.ci.cit-ec.net/browse/distribution/).

{% include figure image_path="/assets/images/system/CITK.png" alt="this is a placeholder image" caption="Cognitive Interaction Toolkit" %}

### Object Recognition and Manipulation

Our current object recognition is based on [YoloX](https://github.com/CentralLabFacilities/clf_object_recognition/tree/yolox). We augment the 2D recognition results with 3D segmentation and superquadratic fitting of object primitives. For manipulation ToBi utilizes the Task Constructor Framework for MoveIt! which providesa way to solve manipulation tasks by defining multiple interdependent subtasks.



{% include gallery caption="Object Recognition visualization and resulting object primitives for grasp generation" id="gallery"%}


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# Platforms

<div class="entries-{{ entries_layout }}">
  {% include documents-collection.html collection="platforms" sort_by=page.sort_by sort_order="reverse" type="grid" %}
</div>