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

UID=${UID} GID=${GID} docker-compose up --build

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.

Name		Name	Last commit message	Last commit date
Latest commit History 9 Commits
.vscode		.vscode
models		models
.gitignore		.gitignore
Dockerfile		Dockerfile
LICENSE		LICENSE
README.md		README.md
demo.ipynb		demo.ipynb
docker-compose.yml		docker-compose.yml
iiwa_paddle_station.py		iiwa_paddle_station.py
report.pdf		report.pdf
requirements.txt		requirements.txt
spatial_projectile_matching_with_SNOPT.ipynb		spatial_projectile_matching_with_SNOPT.ipynb
trajectory_based_approach.ipynb		trajectory_based_approach.ipynb
translational_projectile_matching_with_SNOPT.ipynb		translational_projectile_matching_with_SNOPT.ipynb
translational_projectile_matching_without_SNOPT.ipynb		translational_projectile_matching_without_SNOPT.ipynb