Sequential Assembly Movement Primitive
A Robot Learning from Demonstration Framework for Assembly
Haopeng Hu
2022.08.11
The MATLAB codes for learning the policies from the demonstration data.
- The codes are tested on MATLAB R2020b.
- Run "UNCORK.m" once you set "Greengrape" as your MATLAB workspace.
- main_A.m: Learning the policies of Object A.
- main_B.m: Learning the policies of Object B.
- main_C.m: Learning the policies of Object C.
Runing these codes may take seconds.
The C++ codes for controlling the robot.
- The "libfranka 0.8.0" library is needed.
- There is an demo file "Toys_Grape6.cpp".
- Build it with CMake.
Demo data.
- "main_C.mat": The demo data for the MATLAB demo.
- "main_C.csv": The demo data for the C++ demo.