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unexpected eof while reading","robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":false,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["optimal-control","reinforcement-learning","robotics","trajectory-optimization","whole-body-control"],"created_at":"2025-07-31T14:23:39.760Z","updated_at":"2026-03-02T10:31:39.854Z","avatar_url":"https://github.com/junhyeokahn.png","language":"C++","funding_links":[],"categories":[],"sub_categories":[],"readme":"# Planning and Control Algorithms for Robotics\nPnC is a C++ library designed for generating trajectories for a robot system\nand stabilizing the system over the trajectories.\n\n## Installation\n- Install [cmake](https://cmake.org/):\u003cbr/\u003e\n```source scripts/install/install_cmake.sh```\n- Install [doxygen](https://www.doxygen.nl/index.html):\u003cbr/\u003e\n```source scripts/install/install_doxygen.sh```\n- Install [zmq](https://zeromq.org/) and [cppzmq](https://github.com/zeromq/cppzmq):\u003cbr/\u003e\n```source scripts/install/install_zmq.sh```\n- Install [protobuf](https://developers.google.com/protocol-buffers):\u003cbr/\u003e\n```source scripts/install/install_protobuf.sh```\n- Install [plotjuggler](https://github.com/facontidavide/PlotJuggler):\u003cbr/\u003e\n```source scripts/install/install_plotjuggler.sh```\n- Install [dart](http://dartsim.github.io/):\u003cbr/\u003e\n```source scripts/install/install_dart.sh```\n- Install [anaconda](https://docs.anaconda.com/anaconda/install/)\n- Install python dependancies:\u003cbr/\u003e\n```conda env create -f pnc.yml```\n- Clone the repository:\u003cbr/\u003e\n```git clone https://github.com/junhyeokahn/PnC.git```\n\n## Compile and Run the Code\n- Initiate python env:\u003cbr/\u003e\n```conda activate pnc```\n- Compile:\u003cbr/\u003e\n```mkdir build \u0026\u0026 cd build \u0026\u0026 cmake.. \u0026\u0026 make -j4 ```\n- Run dart sim:\u003cbr/\u003e\n``` ./build/bin/run_atlas```\n- Run pybullet sim:\u003cbr/\u003e\n```python simulator/pybullet/draco_main.py```\n\n## API documentation\n- Create doxygen:\u003cbr/\u003e\n```mkdir build \u0026\u0026 cd build \u0026\u0026 cmake.. \u0026\u0026 make view_docs ```\n\n## Citation\n```\n@article{10.3389/frobt.2021.712239,\n\tauthor = {Ahn, Junhyeok and Jorgensen, Steven Jens and Bang, Seung Hyeon and Sentis, Luis},\n\tjournal = {Frontiers in Robotics and AI},\n\tpages = {257},\n\ttitle = {Versatile Locomotion Planning and Control for Humanoid Robots},\n\tvolume = {8},\n\tyear = {2021}}\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjunhyeokahn%2Fpnc","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Fjunhyeokahn%2Fpnc","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Fjunhyeokahn%2Fpnc/lists"}