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Codes of Quasistatic contact-rich manipulation viaa linear complementarity quadratic programming (IROS 2022)

Home Page: https://omron-sinicx.github.io/lcqp

License: MIT License

Python 99.68% Shell 0.32%

lcqp's Introduction

Copyright (c) 2022 OMRON SINIC X Corporation

lcqp-manip

Contact-rich manipulation via linear-complementarity quadratic programming.

This is the accompanying code of Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka, ``Quasistatic contact-rich manipulation viaa linear complementarity quadratic programming'', 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 203--210, 2022.

Setup

Ubuntu

bash setup_ubuntu.sh

Mac

zsh setup_mac.sh

Run simulation of a non-grasp manipulation

cd examples
python3 pivot.py

LICENSE

The MIT License (MIT).

References

Sotaro Katayama, Tatsunori Taniai, Kazutoshi Tanaka, ``Quasistatic contact-rich manipulation viaa linear complementarity quadratic programming'', 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), pp. 203--210, 2022.

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