- https://github.com/stack-of-tasks/pinocchio
- https://github.com/ikalevatykh/panda3d_viewer
- https://github.com/Gepetto/example-robot-data
If you use anaconda, just run
conda env create -f mdik.yaml
conda activate mdik
If you want to use qpsolvers with time limit,
git clone https://github.com/kbys-t/qpsolvers.git
If you want to use qpoases,
git clone https://github.com/stephane-caron/qpOASES.git
cd qpOASES
make
pip install -e interfaces/python
If you get some errors, please check compile flags (especially when you try to install on mac).
To run the test program, python test.py
with three arguments: --task --name --n_resume
To evaluate the results obtained by the test program, python eval.py
Or just run bash test.bash
@misc{kobayashi2021mirrordescent,
title={Mirror-Descent Inverse Kinematics for Box-constrained Joint Space},
author={Taisuke Kobayashi},
year={2021},
eprint={2101.07625},
archivePrefix={arXiv},
primaryClass={cs.RO},
url={https://arxiv.org/abs/2101.07625},
}