{"id":24616445,"url":"https://github.com/bernhardpg/planning-through-contact","last_synced_at":"2025-05-07T03:42:11.048Z","repository":{"id":61431248,"uuid":"537225726","full_name":"bernhardpg/planning-through-contact","owner":"bernhardpg","description":null,"archived":false,"fork":false,"pushed_at":"2024-04-12T14:39:54.000Z","size":34954,"stargazers_count":5,"open_issues_count":1,"forks_count":3,"subscribers_count":1,"default_branch":"main","last_synced_at":"2024-04-13T08:18:01.150Z","etag":null,"topics":[],"latest_commit_sha":null,"homepage":null,"language":"Python","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":"mit","status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/bernhardpg.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":"LICENSE","code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null}},"created_at":"2022-09-15T22:28:51.000Z","updated_at":"2024-04-14T18:23:25.888Z","dependencies_parsed_at":"2023-09-24T21:03:58.947Z","dependency_job_id":"82f48eea-38f2-4675-8f0f-b15ccd7daf12","html_url":"https://github.com/bernhardpg/planning-through-contact","commit_stats":null,"previous_names":[],"tags_count":0,"template":false,"template_full_name":null,"repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/bernhardpg%2Fplanning-through-contact","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/bernhardpg%2Fplanning-through-contact/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/bernhardpg%2Fplanning-through-contact/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/bernhardpg%2Fplanning-through-contact/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/bernhardpg","download_url":"https://codeload.github.com/bernhardpg/planning-through-contact/tar.gz/refs/heads/main","host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":252810240,"owners_count":21807758,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2022-07-04T15:15:14.044Z","host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":[],"created_at":"2025-01-24T22:48:00.088Z","updated_at":"2025-05-07T03:42:11.026Z","avatar_url":"https://github.com/bernhardpg.png","language":"Python","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Planning Through Contact\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"images/demo_triangle.gif\" alt=\"Demo triangle\" width=\"30%\" /\u003e\n  \u003cimg src=\"images/demo_convex4.gif\" alt=\"Demo convex object\" width=\"30%\" /\u003e\n  \u003cimg src=\"images/demo_tee.gif\" alt=\"Demo T\" width=\"30%\" /\u003e\n\u003c/p\u003e\n\n## 🚀 Installation (Linux and MacOS)\n\nThis repo uses Poetry for dependency management. To setup this project, first\ninstall [Poetry](https://python-poetry.org/docs/#installation) and, make sure\nto have Python3.12 installed on your system.\n\nThen, configure poetry to setup a virtual environment that uses Python 3.12:\n\n```console\npoetry env use python3.12\n```\n\nNext, install all the required dependencies to the virtual environment with the\nfollowing command:\n\n```console\npoetry install -vvv\n```\n\n(the `-vvv` flag adds verbose output).\n\nFor debug features to work, make sure to have graphviz installed on your computer. On MacOS, run the following\ncommand:\n\n```console\nbrew install graphviz\n```\n\n### Activating the environment\n\nTo activate the environment, run:\n\n```console\npoetry shell\n```\n\n---\n\n## 🦾 Generating planar pushing plans\n\n📘 You can find an introduction notebook to generate planar pushing trajectories [here](https://github.com/bernhardpg/planning-through-contact/blob/introductory-notebook/notebooks/planar_pushing.ipynb).\n\nOtherwise, the main entrypoint for generating planar pushing plans is the\nfollowing script:\n\n```console\npython scripts/planar_pushing/create_plans.py\n```\n\nwhich takes a number of command line arguments. Add the flag `--help` for a\ndescription of these.\n\nFor instance, to generate 10 plans for a rectangular slider geometry, run\n\n```console\npython scripts/planar_pushing/create_plans.py --body sugar_box --seed 0 --num 10\n```\n\nwhich will generate plans that look like this:\n\n\u003cp align=\"center\"\u003e\n  \u003cimg src=\"images/demo_box.gif\" alt=\"Demo triangle\" width=\"70%\" /\u003e\n\u003c/p\u003e\n\n---\n\n## RSS 2024: Towards Tight Convex Relaxations for Contact-Rich Manipulation\n\n**🌐 Paper website**: [Towards Tight Convex Relaxations for Contact-Rich Manipulation](https://bernhardgraesdal.com/rss24-towards-tight-convex-relaxations/)\n\n**📋 Paper**: [arXiv](https://arxiv.org/pdf/2402.10312)\n\n📘 You can find an introduction notebook to generate planar pushing trajectories [here](https://github.com/bernhardpg/planning-through-contact/blob/introductory-notebook/notebooks/planar_pushing.ipynb).\n\n**If you run into any problems, don't hesitate to reach out or create an issue.**\n\n### Paper results\n\n💻 The exact code used for generating the results in the paper can be found on the branch: [rss24-towards-tight-convex](https://github.com/bernhardpg/planning-through-contact/tree/rss24-towards-tight-convex).\nThe trajectories and data in the paper are generated with `scripts/planar_pushing/create_plans.py`, see the user guide below.\nHowever, if you are simply interested in using the code, it is recommended to use the updated code on the `main` branch.\n\n---\n\n## Developers\n\nBefore merging a branch to `main`, make sure the unit test pass by running\n\n```console\npytest\n```\n\n(after activating the virtual environment).\n\n---\n\n## Other (experimental)\n\n### Running a single hardware experiment\n\nCreate a config file specifying the experiment in `config` and run it using the\nfollowing command:\n\n```console\npython scripts/planar_pushing/run_planar_pushing_experiment.py --config-name single_experiment\n```\n\nwhere `single_experiment` should be replaced with your config name.\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fbernhardpg%2Fplanning-through-contact","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fbernhardpg%2Fplanning-through-contact","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fbernhardpg%2Fplanning-through-contact/lists"}