kassasin/rac_gsft

GSFT: Geometric Slosh-Free Tracking for Robotic Manipulators

A real-time slosh-free tracking method for robotic manipulators.

Slosh-free reference (sim)	Slosh-free tracking (sim)	Slosh-free motions (real)

For the implementation details, please check the paper and/or watch the video. If you use this framework please cite our work:

@misc{arrizabalaga2024geometric,
      title={Geometric Slosh-Free Tracking for Robotic Manipulators},
      author={Jon Arrizabalaga and Lukas Pries and Riddhiman Laha and Runkang Li and Sami Haddadin and Markus Ryll},
      year={2024},
      eprint={2402.05197},
      archivePrefix={arXiv},
      primaryClass={cs.RO}
}

Installation

Dependencies

Initialize git submodules with

    git submodule init
    git submodule update

Python environment

Install the specific versions of every package from requirements.txt in a new conda environment:

conda create --name gsft python=3.9
conda activate gsft
pip install -r requirements.txt

To ensure that Python paths are properly defined, update the ~/.bashrc by adding the following lines

export GSFT_PATH=/path_to_gsfc
export PYTHONPATH=$PYTHONPATH:/$GSFT_PATH

Usage

To run an example, execute this file. For example,

python main.py --t_nav 6.5 --case h

runs the helix case study for a navigation time of 6.5 s. The other two case studies are b (backflip, named "loop" in the paper) or l (lissajous). You can also add the --no_visualization and --nsf (non slosh-free) flags when running the command. Other seettings can be modified from the configuration file