Mobile Manipulator Throwing

Code for our paper

A Solution to Adaptive Mobile Manipulator Throwing

accepted in International Conference on Intelligent Robots and Systems (IROS) 2022.

Instruction to run the simulation

Build the docker image

bash build-docker.sh

Enter the docker container

bash run-docker.sh

Inside the docker container, run the throwing simulation

python3 ms1_demo_mobile_manipulator_throw.py --box_x -3 --box_y 3 --box_z 0.5

Arguments are the location of the target box in the base frame of panda. Tested box height: [-0.5, 0.9]

Instruction to test out the RBKAIROS pybullet sim:

Change the path in the main.py script to your username, so that the robot urdf can be found.