pybullet-shape-contact

      

Object shape exploration pybullet simulator for shape and pose recovery work. Codebase setup with a little help from my friends: public-push-est, and pybullet-kuka-block-push. Used to generate simulation results for the paper Tactile SLAM: Real-time inference of shape and pose from planar pushing.

Notes

• Hardcoded some paths, so please change anything that says /home/suddhu/software/
• Requires pybullet, argparse, and a few other miscellaneous tools

Run

python3 push_explorer.py --shape rect1

• Shapes: rect1, rect2, rect3, hex, ellip1, ellip2, ellip3, tri1, tri2, tri3( butter is no good due to concave collisions [TODO]). Models from More than a Million Ways to Be Pushed: A High-Fidelity Experimental Dataset of Planar Pushing.
• Output saved as a .json file with the following information:

  ["x of contact position", 
  "y of contact position", 
  "z of contact position", ( = 0)
  "x of contact normal", 
  "y of contact normal", 
  "z of contact normal", ( = 0)
  "force magnitude",
  "x of pusher position", 
  "y of pusher position", 
  "z of pusher position", ( = 0)
  "x of ground truth object pose", 
  "y of ground truth object pose", 
  "z of ground truth object pose", ( = 0)
  "yaw of ground truth object pose"]