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ME 604 Project

A Kuka arm is dancing with a determined trajectory.

kuka.gif

Installation

git clone https://github.com/tayalmanan28/ME604_Project
cd Pybullet-Kuka
# for conda users
conda create -n kuka python=3.8
conda activate kuka
pip install -r requirements.txt

Codes

kuka_env.py

  • includes a kuka iiwa arm, with collision checking and sampling functions

play.py

  • set GUI=True for visualization
  • set make_gif=True to save the trajectory as kuka.gif

Acknowledgement

The Kuka arm is based on PyBullet: https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/gym/pybullet_envs/bullet/kukaGymEnv.py.