Tossingbot

This repository is used to replicate the TossingBot(https://tossingbot.cs.princeton.edu/) implementation.

Installation

Simulation

Pybullet simulator is used for this project.

Simulation frequency: 240Hz

Task

Workspace

Compared to paper's 0.9 × 0.7m workspace, I employ a relatively smaller workspace, which is 0.4 * 0.3m.

Bins (target boxes)

Objects

Currently, ball, cube, rod, and hammer are supported. Refer here for more details.

Robot

Control frequency: 60Hz

Robot type: Franka Panda

Motion Primitives

Grasping Primitive

Throwing Primitive

Agent

Netoworks

Perception

Physics Controller

Prediction Method

Experiments