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PandaRobot and Simulation Results

Panda Robot

XML file generated from the URDF and meshes (link: https://github.com/StanfordASL/PandaRobot.jl)

Torque and position controls implemented in the XML file (limits taken from: https://frankaemika.github.io/docs/control_parameters.html#constants)

Can be used with mujoco simulator (recommended version: 2.0.2.8 )

To run a mujoco license is necessary.

Follow the following commands for running the simulation:

  1. Enter the mujoco path: ~/mujoco/mujoco200/bin
./simulate /path/to/franka-emika-panda-simulation/Panda_Env/envs/assets/Panda_xml/model_actuate.xml

Furthermore, a simple gym environment has also been implemented where the action space consists of the joint torques.

Installation: pip install .

To run gosafeopt experiments: pip install .[gosafeopt]

To import simulation:

import Panda_Env 
import gym
env=gym.make("PandaEnvPath-v0")

Testing: test_env.py can be run to visualize a simple impedance controller.

Simulation tasks

We consider 2 tasks:

  1. Eight dimensional Task: Reaching a desired positive task
  2. Eleven dimensional Task: Path following task.

To run SafeOpt and Contextual GoSafe code is required (EIC additionally requires https://github.com/alonrot/classified_regression ).

A. Running Eight dimensional Task

command: python3 Eight_dimension_task/8D_task.py method

with method = GoSafeOpt or SafeOpt

B. Running Eleven dimensional Task

command: python3 Eleven_dimension_task/11D_task.py method

with method = GoSafeOpt or SafeOpt or eic

Files

  1. setup.py: Installation file
  2. osc_controller.py: Class which defines functions used for operational space controllers (e.g. Getting jacobian, mass matrix etc.)
  3. test.py and test_env_path.py: File used for testing the 8D task and 11D task environment respectively.
  4. Eight_dimension_task and Eleven_dimension_task: Contains files used to run experiments for 8D and 11D tasks respectively.

Contributors

URDF files: https://github.com/StanfordASL/PandaRobot.jl

Simulation and Experiments: Bhavya Sukhija

License

The code is licenced under the MIT license and free to use by anyone without any restrictions.