deformable_ros

RoboCraft: Learning to See, Simulate, and Shape Elasto-Plastic Object with Graph Networks

The controller is based on ROS Noetic and Polymetis. It's especially useful if you're working with a Franka Panda robot arm and a Franka hand gripper. If your robot setup is different, this codebase won't work out of the box, but there might be some useful scripts. Feel free to contact me at [email protected] if you have any questions.

Overview

Project Page | Paper

Prerequisites

• Linux (Tested on Ubuntu 20.04)
• ROS Noetic
• Polymetis.
• Conda

Getting Started

Setup

• Install the prerequisites.

# clone the repo into the src folder of your catkin workspace
git clone https://github.com/hshi74/deformable_ros.git

# cd to the catkin workspace and build it
catkin_make

# create the conda environment
conda env create -f polymetis.yml
conda activate polymetis

For all the following bash or python scripts, you will need to modify certain hyperparameters (like directories) before you run them.

Generate Data

Run python src/random_explore.py in one terminal and python src/collect_dy_data.py in another terminal.