Python code for the simulation

This library provides the models and instructions to build differomorphic mappings by the iteration method and the invertible Neural Network (iNN) method. It includes the 2D simulation code of our paper Motion Mappings for Continuous Bilateral Teleoperation. See for our paper: https://ieeexplore.ieee.org/document/9387124

Installation in Ubuntu

• Install Miniconda or Anaconda if you don't have it.

• Create a new Conda environment with Python 2.7, and activate it.

  conda create -n env_name python=2.7

  conda activate env_name

• Install requirements in env_name.

  conda install numpy scipy numba matplotlib tensorflow=1.15

  conda install -c conda-forge quaternion notebook

Examples

• iteration_2D_sim.ipynb shows an example of motion mapping by the iteration method in 2D example, which generates the Fig. 4 of our paper.

• iNN_2D_sim.ipynb shows the method of iNN in the same 2D example.