/whip-project-targeting

Deformable Object Manipulation - Manipulating a whip via Dynamic Primitives

Primary LanguagePythonBSD 3-Clause "New" or "Revised" LicenseBSD-3-Clause

Whip Project - Targeting with a Whip

We show that designing a controller with Dynamic Primitives can dramatically simplify the control of complex objects. We show this by controlling a whip - an infinite dimensional object with significant dynamics.

2D Whip

drawing

3D Whip

drawing

Literatures

pdf files of the papers are saved in Readings folder.

  1. 2020 BIOROB - Dynamic Primitives Facilitate Manipulating a Whip
  2. MIT Master's Thesis - Dynamic Primitives Facilitate Manipulating a Whip
  3. 2021 ICRA - Manipulating a Whip in 3D via Dynamic Primitives

Presented Talks

  1. 2020 Neuromatch 3.0
  2. 2020 BIOROB
  3. 2020 IROS Workshop - Impedance Learning

** For Beginners - How to setup a Virtual environment**

It is beneficial to setup the virtual environment before running the simulation. Create virtualenv by typing the following line:

  python3 -m venv .venv

After the environment is generated, activate the virtual environment

  source .venv/bin/activate

Download all the required packages for the mujoco-py simulation.

  python3 -m pip install -r requirements.txt

And... it's ready to go!

References

  1. MuJoCo Documentation