tactile-pushing

This repository contains the source code of the paper Learning Tactile Models for Factor Graph-Based Estimation.

Installation

Install the pushestpy python package locally. In the push_estimation/pushestpy dir execute:

pip install -e .

Create a virtual python environment using Anaconda:

conda create -n env_push python=3.7
conda activate env_push

Install gtsam. Start by cloning the gtsam repository:

git clone https://github.com/borglab/gtsam.git
git checkout tags/4.0.0

Build and install the gtsam library:

cmake -DGTSAM_INSTALL_CYTHON_TOOLBOX=ON -DGTSAM_PYTHON_VERSION=3.7 ..
make -j
make install

If doing a local install, additionally pass in the install path -DCMAKE_INSTALL_PREFIX=../install.

Build and install the pushestcpp library for custom factors. In the push_estimation/ dir execute:

mkdir build/ && cd build/
cmake ..
make -j
make install

Usage

Citing

If you find this repository helpful in your publications, please cite the following:

@inproceedings{sodhi2021tactile,
    title={Learning Tactile Models for Factor Graph-based Estimation},
    author={Sodhi, Paloma and Kaess, Michael and Mukadam, Mustafa and Anderson, Stuart},
    booktitle=IEEE Intl. Conf. on Robotics and Automation (ICRA),
    year={2021},
}

License

This repository is licensed under the BSD License.