quantumiracle/robosuite-panda-ik

Surreal Robotics Suite Panda Robot with IK control

This project is built on top of Surreal Robotics Suite (Robosuite) and our previous work. You need to install necessary packages in both above projects. This project enables Panda robot with inverse kinematics control.

There are also some modifications in scripts within Robosuite, where the updated scripts are in folder ./extra_modules_replacing_robosuite, and you might use these scripts to replace those in original Robosuite package to run this project smoothly:

• __init__.py: replace robosuite/robosuite/models/tasks/__init__.py;
• placement_sampler.py: replace robosuite/robosuite/models/tasks/placement_sampler.py;
• base.py: replace robosuite/robosuite/environments/base.py;
• panda.py: replace robosuite/robosuite/environments/panda.py;
• panda_gripper.py: replace robosuite/robosuite/models/grippers/panda_gripper.py.

Quick Start

python test_panda_eff_velocity_control.py

Reference

• Previous work

Author

Zihan Ding