Cup-and-Ball (Kendama) Game Simulation

This repository contains the source code from our work on Learning to Play Cup-and-Ball with Noisy Camera Observations. We use dm_control and MuJoCo for the simulation environment.

Full text of our paper can be found here:

Bujarbaruah, M., Zheng, T., Shetty, A., Sehr, M., & Borrelli, F. (2020). Learning to Play Cup-and-Ball with Noisy Camera Observations. arXiv preprint arXiv:2007.09562.

@misc{bujarbaruah2020learning,
    title={Learning to Play Cup-and-Ball with Noisy Camera Observations},
    author={Monimoy Bujarbaruah and Tony Zheng and Akhil Shetty and Martin Sehr and Francesco Borrelli},
    year={2020},
    eprint={2007.09562},
    archivePrefix={arXiv},
    primaryClass={cs.RO}
}

Installation

(Optional) Load a new virtual environment

python3 -m venv kendama_env
source kendama_env/bin/activate

Install MuJoCo according to the instructions from https://github.com/openai/mujoco-py.
Install dm_control with the develop option to modify files without having to reinstall every time.

$ git clone https://github.com/deepmind/dm_control
$ cd dm_control
$ python setup.py develop

If you are running into an error where mjdata.h cannot be found, modify line 36 from setup.py to make sure the file path for MuJoCo is correct:

DEFAULT_HEADERS_DIR = '~/.mujoco/mujoco200/include'.format

Add the content from this repository to dm_control

$ git clone https://github.com/MPC-Berkeley/kendama
$ cp -r kendama/controls dm_control/
$ cp -r kendama/suite dm_control/suite

Note that dm_control/suite already contains __init__.py and this will overwrite it. The only additional content is the line to import the kendama model:

from dm_control.suite import kendama_catch_simulation

Getting Started

Run the simulation from the dm_control/controls folder using

python3 run_kendama_simulation.py

License

MIT License

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.