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.