kbys-t/mdik

Mirror-descent inverse kinematics

Results in my environment

See youtube and arxiv

Important dependencies

• https://github.com/stack-of-tasks/pinocchio
• https://github.com/ikalevatykh/panda3d_viewer
• https://github.com/Gepetto/example-robot-data

Installation

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).

Usage

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

Citation

@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},
}