CIDGIKc

A distance-based inverse kinematics solver for extensible segment constant curvature continuum robots.

Environment setup

1. Install conda (Miniconda3 recommended)
2. (Optional) install the mamba package. In this case, replace all the "conda" commands with "mamba" below.
3. Install MOSEK and obtain a license (free for academic use) https://www.mosek.com/downloads/
4. Run the following:

# clone the repo and navigate to the cidgikc directory
git clone https://github.com/ContinuumRoboticsLab/CIDGIKc.git
cd cidgikc

# Create & activate the conda env
conda env create -f environment.yml
conda activate cidgikc-env

5. Run the algorithm on a single problem instance by running the following:

cd scripts 
python exp_sing_contrived.py