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Final project for 6.881 Intelligent Robot Manipulation

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ctrl
ctrl
 
 
models
models
 
 
other_notebooks
other_notebooks
 
 
panda
panda
 
 
perception
perception
 
 
plant
plant
 
 
sweeps
sweeps
 
 
.gitattributes
.gitattributes
 
 
.gitignore
.gitignore
 
 
F_offset_sweep.pgf
F_offset_sweep.pgf
 
 
Fn_noise_plot-img0.png
Fn_noise_plot-img0.png
 
 
Fn_noise_plot.pgf
Fn_noise_plot.pgf
 
 
config.py
config.py
 
 
constants.py
constants.py
 
 
impedance_contact_point.pgf
impedance_contact_point.pgf
 
 
impedance_contact_point_0.pgf
impedance_contact_point_0.pgf
 
 
impedance_contact_point_1.pgf
impedance_contact_point_1.pgf
 
 
impedance_sweep.pgf
impedance_sweep.pgf
 
 
impedance_vision_and_force_full_hinge_1-img0.png
impedance_vision_and_force_full_hinge_1-img0.png
 
 
impedance_vision_and_force_full_hinge_1.pgf
impedance_vision_and_force_full_hinge_1.pgf
 
 
impedance_vision_and_force_full_hinge_2-img0.png
impedance_vision_and_force_full_hinge_2-img0.png
 
 
impedance_vision_and_force_full_hinge_2.pgf
impedance_vision_and_force_full_hinge_2.pgf
 
 
k_J_force_full_hinge-img0.png
k_J_force_full_hinge-img0.png
 
 
k_J_force_full_hinge.pgf
k_J_force_full_hinge.pgf
 
 
k_J_open_loop_full_hinge-img0.png
k_J_open_loop_full_hinge-img0.png
 
 
k_J_open_loop_full_hinge.pgf
k_J_open_loop_full_hinge.pgf
 
 
k_J_plot-img0.png
k_J_plot-img0.png
 
 
k_J_plot.pgf
k_J_plot.pgf
 
 
k_J_sweep-img0.png
k_J_sweep-img0.png
 
 
k_J_sweep.pgf
k_J_sweep.pgf
 
 
k_J_sweep_1.pgf
k_J_sweep_1.pgf
 
 
k_J_sweep_2.pgf
k_J_sweep_2.pgf
 
 
k_J_sweep_zoom.pgf
k_J_sweep_zoom.pgf
 
 
k_J_vis_full_hinge-img0.png
k_J_vis_full_hinge-img0.png
 
 
k_J_vis_full_hinge.pgf
k_J_vis_full_hinge.pgf
 
 
kinematics_check.ipynb
kinematics_check.ipynb
 
 
log_wrapper.py
log_wrapper.py
 
 
m_J_vis_full_hinge-img0.png
m_J_vis_full_hinge-img0.png
 
 
m_J_vis_full_hinge.pgf
m_J_vis_full_hinge.pgf
 
 
m_L_force_full_hinge-img0.png
m_L_force_full_hinge-img0.png
 
 
m_L_force_full_hinge.pgf
m_L_force_full_hinge.pgf
 
 
m_L_full_hinge-img0.png
m_L_full_hinge-img0.png
 
 
m_L_full_hinge.pgf
m_L_full_hinge.pgf
 
 
m_L_plot-img0.png
m_L_plot-img0.png
 
 
m_L_plot.pgf
m_L_plot.pgf
 
 
m_L_sweep-img0.png
m_L_sweep-img0.png
 
 
m_L_sweep.pgf
m_L_sweep.pgf
 
 
m_L_vis_full_hinge-img0.png
m_L_vis_full_hinge-img0.png
 
 
m_L_vis_full_hinge.pgf
m_L_vis_full_hinge.pgf
 
 
mu_force_full_hinge-img0.png
mu_force_full_hinge-img0.png
 
 
mu_force_full_hinge.pgf
mu_force_full_hinge.pgf
 
 
mu_sweep.pgf
mu_sweep.pgf
 
 
orientation_map.npz
orientation_map.npz
 
 
orientation_map_2_links.npz
orientation_map_2_links.npz
 
 
orientation_map_4_links.npz
orientation_map_4_links.npz
 
 
panda_test__01-30-22.ipynb
panda_test__01-30-22.ipynb
 
 
pedestal_xyz_2_links.npz
pedestal_xyz_2_links.npz
 
 
pedestal_xyz_4_links.npz
pedestal_xyz_4_links.npz
 
 
position_traj.npz
position_traj.npz
 
 
process_obj.py
process_obj.py
 
 
qs_2_links.npz
qs_2_links.npz
 
 
qs_4_links.npz
qs_4_links.npz
 
 
real_sim_comparison.pgf
real_sim_comparison.pgf
 
 
run_sweeps.bash
run_sweeps.bash
 
 
sim_comparison.ipynb
sim_comparison.ipynb
 
 
sim_exceptions.py
sim_exceptions.py
 
 
simulation.ipynb
simulation.ipynb
 
 
starting_q_2_links.npz
starting_q_2_links.npz
 
 
starting_q_4_links.npz
starting_q_4_links.npz
 
 
sweeps_plotter.ipynb
sweeps_plotter.ipynb
 
 
traj_drawings-img0.png
traj_drawings-img0.png
 
 
traj_drawings.pgf
traj_drawings.pgf
 
 
traj_plots.pgf
traj_plots.pgf
 
 
vis_check.ipynb
vis_check.ipynb
 
 
visualization.py
visualization.py
 
 
x0s.npz
x0s.npz
 
 
x0s_2_links.npz
x0s_2_links.npz
 
 
x0s_4_links.npz
x0s_4_links.npz
 
 
x0s_sim.npz
x0s_sim.npz
 
 
x0s_sim_2_links.npz
x0s_sim_2_links.npz
 
 
x0s_sim_4_links.npz
x0s_sim_4_links.npz
 
 

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Final project for 6.881 Intelligent Robot Manipulation

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