Estimating Force Interactions of Deformable Linear Objects from their Shapes

Using the jpQ-DER model based off the DER theory (Bergou2008), the external force interactions of a deformable linear object (DLO) can be estimated using a set of consistency equations and solving a set of linear equations based on the force-torque balancce of the system.

Requires

Requires: MuJoCo, Gymnasium, mujoco-python-viewer, eigen

Build:

1. Navigate to ds2f/utils/dlo_s2f and run bash swigbuild.sh to build the solver.

Use:

1. In the root directory of this package:

pip install -e .

2. Put all data required for real experiments in the same directory level as the repository:

cd ..
mkdir data && cd data
mkdir datadir1/outputs/pos3d

Put your .npy posfiles in /pos3d directory. 3. To run interactive simulation:

python interactive_sim.py

then use the mouse to interact with the wire. Double-click to select a body, right-click pull to apply force. 4. To run real experiments:

python wirestandalone_example.py --data_dir datadir1 --pos_file posfilename.npy

5. To plot results for real experiments:

python plot_s2fresults.py --data_dir datadir1 --pos_file posfilename.npy