Optimized DS Modulation

1. Folder matlab_scripts contains various matlab codes supportiung method development. This folder is not necessary to run any simulation

2. Folder python_scripts contains codes required to learn implicit distance representation and run simulation.

   a. Folder python_scripts/mlp_learn is needed to learn various toy examples for visualization purposes.

   a. Folder python_scripts/ds_mppi contains required code to run planar robot simulations, pybullet franka simulations and real robot experiments.

Full Supplementary Video

This video showcases method explanation, simulation & real robot application

Method intuition on planar 2d robot

Standard Modulated Dynamical System

Proposed method

To run corresponding simulation please navigate to
cd python_scripts/ds_mppi/scripts
and run either
python3 standalonePlanar2d.py for simulation
or
python3 standalonePlanar2d_policyPlots.py for same simulation, but with more visualizations (for MPPI and navigation kernels). Note that these plots increase the runtime.

To run 7d planar robot use python3 standalonePlanar7d.py (not as refined)

Franka simulation in shelf-like environment