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Using inverse kinematics to catch a ping pong ball with a robotic manipulator

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Ping Pong Catcher

Demonstrations of catching a ping pong ball with a paddle welded to the end effector of an iiwa with Drake.

See report.pdf to see how it works.

Watch our presentation on YouTube to see it in action.

Dependencies

  • Docker + docker-compose

Usage

  1. Run a container with Drake, PyDrake, and Jupyter Lab ready to go
UID=${UID} GID=${GID} docker-compose up --build
  1. Visit the URL that appears in your browser. You should be able to open and run the notebooks in this repo. demo.ipynb is a good place to play with the code. The rest of the notebooks execute the experiments from the evaluation section of our report.

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Using inverse kinematics to catch a ping pong ball with a robotic manipulator

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