- python >= 3.7
- pytorch 1.0.1
- matplotlib
- sklearn
- torchdiffeq
- urdfpy
- warp-lang
- usd-core
- pytorch_lightning
- pyquaternion
- tqdm
As of 2023, some breaking changes have happened.
Install:
pip3 install torch torchvision torchaudio --extra-index-url https://download.pytorch.org/whl/cu113
numpy==1.22.3
pytorch_lightning==1.5.10
warp-lang==0.2.3
We use git lfs to reduce the dae
file size on clone. Please install git lfs before cloning the repo. Otherwise install after and use git lfs fetch.
The example training code can be found in examples
directory.
cd examples
python train_panda_urdf.py
The example visualization code can be found in examples
directory.
cd examples
python visualize_panda_urdf.py
This script creates usd
files. NVIDA Omniverse can open these files and you can see the generated visual results.
The example evaluation code can be found in examples
directory.
cd examples
python evaluation_panda_urdf.py
The model checkpoint can be designated by modifying args
.
If you find this repository useful, please cite:
@inproceedings{park2022nodeik,
title={NODEIK: Solving Inverse Kinematics with Neural Ordinary Differential Equations for Path Planning},
author={Park, Suhan and Schwartz, Mathew and Park, Jaeheung},
booktitle={2022 22nd International Conference on Control, Automation and Systems (ICCAS)},
pages={944--949},
year={2022},
organization={IEEE}
}
nodeik/layers
are orignated from FFJORD
and SoftFlow
repos. Thank the authors for these codes.
- FFJORD: https://github.com/rtqichen/ffjord
- SoftFlow: https://github.com/ANLGBOY/SoftFlow