🌐 Paper website: Towards Tight Convex Relaxations for Contact-Rich Manipulation

📋 Paper: arXiv

📘 You can find an introduction notebook to generate planar pushing trajectories here.

If you run into any problems, don't hesitate to reach out or create an issue.

💻 The exact code used for generating the results in the paper can be found on the branch: rss24-towards-tight-convex. The trajectories and data in the paper are generated with scripts/planar_pushing/create_plans.py, see the user guide below. However, if you are simply interested in using the code, it is recommended to use the updated code on the main branch.

⚠️ Note: This repo is under active development changes to the code may occur. ⚠️

This repo uses Poetry for dependency management. To setup this project, first install Poetry and, make sure to have Python3.12 installed on your system.

Then, configure poetry to setup a virtual environment that uses Python 3.12:

poetry env use python3.12

Next, install all the required dependencies to the virtual environment with the following command:

poetry install -vvv

(the -vvv flag adds verbose output).

For debug features to work, make sure to have graphviz installed on your computer. On MacOS, run the following command:

brew install graphviz

To activate the environment, run:

poetry shell

⚠️ At the moment, the code relies on a custom build of Drake. This will only be the case for another week or so, meaning that this step will not be necessary very soon⚠️

At the moment, this code relies on a customized version of Drake. To install, follow these instructions:

Navigate to a desired installation location and run:

git clone [email protected]:bernhardpg/drake.git
cd drake
git checkout towards-tight-convex-relaxations

To build Drake and the python bindings, run:

cd ../
mkdir drake-build
cd drake-build
cmake -DWITH_MOSEK=ON -DWITH_SNOPT=ON ../drake
make install

if you are a member of the RLG, run:

cd ../
mkdir drake-build
cd drake-build
cmake -DWITH_MOSEK=ON -DWITH_ROBOTLOCOMOTION_SNOPT=ON ../drake
make install

See the docs for more information on building Drake.

To tell the environment to use the customized Drake build, run:

export PYTHONPATH={DRAKE_BUILD_DIR_PATH}/install/lib/python3.11/site-packages:${PYTHONPATH}

where {DRAKE_BUILD_DIR_PATH} should be replaced with the absolute path to the drake-build directory above.

Currently, the main entrypoint for generating planar pushing plans is the following script:

python scripts/planar_pushing/create_plan.py

which takes a number of command line arguments. Add the flag --help for a description of these.

For instance, to generate 10 plans for a rectangular slider geometry, run

python scripts/planar_pushing/create_plan.py --body sugar_box --seed 0 --num 10

which will generate plans that look like this:

Before merging a branch to main, make sure the unit test pass by running

pytest

(after activating the virtual environment).

Create a config file specifying the experiment in config and run it using the following command:

python3 scripts/planar_pushing/run_planar_pushing_experiment.py --config-name single_experiment

where single_experiment should be replaced with your config name.