Box Stacking in PyBullet

Course Projects of ROB-UY 2004

Python NumPy SciPy Matplotlib PyBullet

Box Stacking and Reordering

114514

  • Model
    Open Dynamic Robot Initiative, 2 sets of 3-DOF robotic fingers
  • Simulator
    PyBullet
  • Description
    • Implemented forward and inverse kinematics with NumPy and SciPy; generated trajectory in joint-space with linear time interpolation for smooth motion
    • Designed and tuned an impedance controller operating in end-effector space to perform reaching, grasping, and lifting under collaboration
    • Collected and analyzed various simulation data to evaluate and validate controller performances, documented methods and results in interactive notebooks

Box Stacking and Reordering

114514

  • Model
    Franka Emika Panda, 7-DOF robot arm
  • Simulator
    PyBullet
  • Description
    • Implemented inverse kinematics with NumPy and SciPy; generated trajectory in joint-space with linear time interpolation for smooth motion
    • Designed and tuned an impedance controller with gravity compensation operating in end-effector space to perform reaching and grasping, aligned end-effector with ground plane to enhance stability and accuracy in box manipulation
    • Collected and analyzed various simulation data to evaluate and validate controller performances, documented methods and results in interactive notebooks