MIT 6.4212 Final Project
An exploration of manipulating through deformable clutter, in the setting of apple picking.
Implemented in Drake, large chunks duplicated from drake and manipulation repositories.
Run TreeViewer.ipynb, up until the block titled 'Follow a trajectory with nudges', which demonstrates the complete functionality of the project.
Some helpers are in utils.py.
Look at Final_Project_Report.pdf for a write-up of this work
