Robotics Projects Collection

This repository contains three robotics-related projects implemented simulation tools, and custom components. Each project is organized into its own directory.

Prerequisites

Follow the command below to install python packages needed in this project.

conda env create -f genesis_conda.yaml
conda activate genesis_conda

Projects

1. Autonomous Driving (Prius URDF)

Description:
A simple autonomous driving setup using a Prius URDF model. The project includes vehicle dynamics, basic control logic, and sensor simulation.

Features:

• Prius URDF model
• Basic path following or lane keeping(TO-BE)
• LIDAR and camera simulation (TO-BE)

Usage:

cd workspace
python autonomous_driving.py

2. Soft Robots (Material research)

Description:
A simple material test given by genesis engine.

Features:

• Material 1 : gs.materials.MPM.Muscle
• Material 2 : gs.materials.FEM.Muscle
• Place the above on the height and see the impact and deformation when they hit the ground

Usage:

cd workspace
python soft_robots.py

3. Robot Arm (Pick & place)

Description:
A simple robot manipulator project that perform 'pick & place'.

Features:

• Franka panda model
• PD control
• adjusting parameters(tuning)

Usage:

cd workspace
python robot_arm.py

genesisai-franka-joint-test.mp4