cameronwp / ping-pong-catcher

Using inverse kinematics to catch a ping pong ball with a robotic manipulator

Ping Pong Catcher

Demonstrations of catching a ping pong ball with a paddle welded to the end effector of an iiwa with Drake.

See report.pdf to see how it works.

Watch our presentation on YouTube to see it in action.

Dependencies

• Docker + docker-compose

Usage

1. Run a container with Drake, PyDrake, and Jupyter Lab ready to go

UID=${UID} GID=${GID} docker-compose up --build

2. Visit the URL that appears in your browser. You should be able to open and run the notebooks in this repo. demo.ipynb is a good place to play with the code. The rest of the notebooks execute the experiments from the evaluation section of our report.