Suite of parametrized controller and simulator for codesign of robots.
We cannot guarantee stable API
This library depends on
casadi
numpy
idyntree
bipedal-locomotion-framework
adam-robotics
mujoco
mujoco-python-viewer
matplotlib
urllib3
urchin
To install you can use the following commands
conda create -n comododev -c conda-forge adam-robotics idyntree bipedal-locomotion-framework=0.19.0 mujoco mujoco-python numpy mujoco-python-viewer matplotlib urllib3 urchin resolve-robotics-uri-py notebook
conda activate comododev
pip install --no-deps git+https:/CarlottaSartore/urdf-modifiers.git@scalar_modification
pip install --no-deps -e .
conda install -c conda-forge -c robotology casadi pytest liecasadi meshcat-python ffmpeg-python
pip install --no-deps git+https:/ami-iit/hippopt.git
Working with drake as the simulator backend requires the following additional dependencies,
conda install meshio tqdm
pip install drake git+https:/ami-iit/amo_urdf
Take a look at the examples folder!
This repository is maintained by
@CarlottaSartore |