We show that designing a controller with Dynamic Primitives can dramatically simplify the control of complex objects. We show this by controlling a whip - an infinite dimensional object with significant dynamics.
pdf files of the papers are saved in Readings folder.
- 2020 BIOROB - Dynamic Primitives Facilitate Manipulating a Whip
- MIT Master's Thesis - Dynamic Primitives Facilitate Manipulating a Whip
- 2021 ICRA - Manipulating a Whip in 3D via Dynamic Primitives
It is beneficial to setup the virtual environment before running the simulation.
Create virtualenv
by typing the following line:
python3 -m venv .venv
After the environment is generated, activate the virtual environment
source .venv/bin/activate
Download all the required packages for the mujoco-py simulation.
python3 -m pip install -r requirements.txt
And... it's ready to go!