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Humanoid robotics prototyping environment based on OpenRAVE
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doc [doc] Computation of contact wrenches May 17, 2019
examples [bugfix] Point-mass acceleration is now private May 17, 2019
pymanoid Compute adjoint matrices from local to world frame May 17, 2019
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.gitmodules QP solvers moved to qpsolvers module May 2, 2018
CHANGELOG.md Compute adjoint matrices from local to world frame May 17, 2019
LICENSE License changed to LGPLv3 Nov 27, 2017
README.md [minor] Add link to tutorial in README Apr 30, 2019
setup.py [doc] Document the wrench distribution process May 17, 2019

README.md

pymanoid

Humanoid robotics controller prototyping environment based on OpenRAVE. Includes:

Use cases

Getting started

Installation

The following instructions were verified on Ubuntu 14.04:

sudo apt-get install cython libglpk-dev python python-dev python-pip python-scipy python-simplejson
  • Install the LP solver: CVXOPT_BUILD_GLPK=1 pip install cvxopt --user
  • Install the QP solver: pip install quadprog --user
  • For polyhedral computations (optional): pip install pycddlib --user

Finally, clone this repository and run the setup script:

git clone --recursive https://github.com/stephane-caron/pymanoid.git
cd pymanoid
python setup.py build
python setup.py install --user

Optional

For nonlinear numerical optimization, you will need to install CasADi, preferably from source with the MA27 linear solver.

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