PandaRobot and Simulation Results

Panda Robot

The XML file for the Panda robot simulation is generated from the URDF and meshes (link: https://github.com/StanfordASL/PandaRobot.jl). The torque and position controls are implemented in the XML file (limits taken from: https://frankaemika.github.io/docs/control_parameters.html#constants). The simulation can be used with the MuJoCo simulator (recommended version: 2.0.2.8, for installation details and licenses see the MujoCo repository).

To run the simulation, navigate to ~/mujoco/mujoco200/bin in the terminal and execute

./simulate /path/to/franka-emika-panda-simulation/pandaenv/envs/assets/Panda_xml/model_actuate.xml

Installation and Basic Usage

We implemented a simple Gym environment to interact with the robot. The actions pace consists of the joint torques. The Gym environment can be installed by executing

pip install .

To be able to also run experiments with GoSafeOpt, execute: pip install .[gosafeopt]

To import simulation:

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

Testing: python3 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 GoSafeOpt, installation wi 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

replacing method with either GoSafeOpt or SafeOpt

B. Running Eleven dimensional Task

command: python3 Eleven_dimension_task/11D_task.py method

replacing method with either GoSafeOpt or SafeOpt or EIC (note that for running experiments with EIC (expected improvement with constraints), the EIC code is required)

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.