Drake setup and introduction to IK using pseudo inverse and quadratic programming
Introduction to Drake Drake is a C++ toolbox started by Russ Tedrake and his group at MIT. It is a collection of libraries for efficient rigid body dynamics computations and constraint-based multibody dynamics, mainly used for manipulation planning and control. Setup for manipulation In this project I am borrowing most of the work from the Drake manipulation repository, which is used to teach the manipulators course at MIT. Here are the course documents: manipulation and Manipulation youtube playlist from last semester....