ME 604 Project
A Kuka arm is dancing with a determined trajectory.
Installation
git clone https://github.com/tayalmanan28/ME604_Project
cd Pybullet-Kuka
# for conda users
conda create -n kuka python=3.8
conda activate kuka
pip install -r requirements.txt
cd Pybullet-Kuka
# for conda users
conda create -n kuka python=3.8
conda activate kuka
pip install -r requirements.txt
Codes
kuka_env.py
- includes a kuka iiwa arm, with collision checking and sampling functions
play.py
- set
GUI=Truefor visualization - set
make_gif=Trueto save the trajectory askuka.gif
Acknowledgement
The Kuka arm is based on PyBullet: https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py.