This repository is used to replicate the TossingBot(https://tossingbot.cs.princeton.edu/) implementation.
Pybullet simulator is used for this project.
Simulation frequency: 240Hz
Compared to paper's 0.9 × 0.7m workspace, I employ a relatively smaller workspace, which is 0.4 * 0.3m.
Currently, ball, cube, rod, and hammer are supported. Refer here for more details.
Control frequency: 60Hz
Robot type: Franka Panda