https://github.com/tianyi20/liquid_manipulation_moveit

liquid manipulation: optimizer and motion planning implemented with ROS & moveit melodic
https://github.com/tianyi20/liquid_manipulation_moveit

moveit optimization ros scipy

Last synced: about 1 month ago
JSON representation

liquid manipulation: optimizer and motion planning implemented with ROS & moveit melodic

• Host: GitHub
• URL: https://github.com/tianyi20/liquid_manipulation_moveit
• Owner: Tianyi20
• Created: 2024-11-27T05:46:17.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2024-12-09T05:39:00.000Z (over 1 year ago)
• Last Synced: 2025-01-29T05:18:28.441Z (over 1 year ago)
• Topics: moveit, optimization, ros, scipy
• Language: Python
• Homepage: https://www.youtube.com/watch?v=oPvfIooH5HU
• Size: 36.1 KB
• Stars: 0
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

Awesome Lists containing this project

README

          
# Tianyi's liquid manipulation work

![image](https://github.com/user-attachments/assets/5df39b66-e0fb-43b6-9d05-cfbe250d1d31)

![liquid_manipulation_final_pre](https://github.com/user-attachments/assets/8853a7af-aebe-4a29-a722-bfe0e680c179)

How to use:

```

Configuration :

Moveit melodic

python 2.7

scipy

```

Getting the pose and dimension from my the other project: [ROSnoetics_multiple_category_level_detectors](https://github.com/Tianyi20/category-level-estimation-ROS-noetic)

After receiving the pose and dimension, convert the pouring action porblem to a optimisation problem:

The optimizer is solved by scipy

![Screenshot from 2024-11-29 21-08-48](https://github.com/user-attachments/assets/7c80f1f9-c056-4025-98be-125356cbc97e)