Nonprehensile object transportation that is robust to uncertainty in the inertial parameters (mass, center of mass, inertia matrix). We use the same optimal control problem formulation as the original work in this repository, but instead solve the problem once offline with a long time horizon. The plan is then tracked online. More details can be found in the paper.
Run the simulation experiments with scripts/planning_sim_loop.py. For
example, to collect the data with the box of height 30cm using the proposed
robust constraints, do:
./planning_sim_loop.py --config $(rospack find upright_robust)/config/demos/sim.yaml --height 30 --com robust
To see the simulation visually, use the --gui flag. To log the results, use
--log.
After running the simulations, they can be processed (e.g., to verify
robustness) using scripts/process_sim_runs.py. You need to provide the
directory where the simulation results were logged.
The node for running the planner online with the real robot lives in the
upright_ros_interface package, to keep all of the ROS infrastructure
contained in one place. To run it, do
roslaunch upright_ros_interface track_plan.launch config:=<path to yaml file>
The plan is generated and then tracked online the robot. Make the sure
upright_cmd/scripts/record.py is running at the same time to record a rosbag.