Neural-JSDF for Canadarm

base code : https://github.com/epfl-lasa/Neural-JSDF

This is the implementation of JSDF for Canadarm in Python(Base Code : MATLAB, Franka).

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Dependencies

• ROS2 - Humble
• Python 3.11
  • Trimesh
  • Numpy
  • Torch
  • Pinocchio

Install Dependencies

Trimesh

pip3 install trimesh
pip3 install pyglet==1.5.27
pip3 install rtree

Pinocchio

pip3 install pin

Numpy

pip3 install numpy

Torch

pip3 install torch

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HOW TO RUN

ros2 run data_sampling sampling_node

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To do List

• Point Sampling Code
• Get Random Joints Code (Using Numpy)
• MLP Regression Code