Use Deepnote with russtedrake/manipulation:mesh_painter Docker Image
or
Install pydrake and additional dependencies locally then run the Jupyter Notebook with russtedrake/manipulation:mesh_painter Docker Image
Our repository consists of code to wipe a single plate with our hybrid force-position controller (final_plate_wipe.ipynb), generate and evaluate waypoints to wipe using our different optimization approaches (final_trajectory_evaluation.ipynb), and run our full contoller (final_experiments.ipynb)[WARNING running is very slow on Deepnote].
Also in this repository is our paper for the project.
Enjoy!
Unfortunately, we have not found a way to get this code to work with DeepNote (please do try though using the docker container russtedrake/manipulation:mesh_painter). Thus, in order to run it, you will have to first clone this PR of Drake, and then install PyDrake from source.
Install moviepy with pip install moviepy
You should be able to just run all cells in the notebook. Take care to read the comments: you will probably have to change particular paths and uncomment various lines.