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Repository Summary
Description | |
Checkout URI | https://github.com/machines-in-motion/biconvex_mpc.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2023-05-12 |
Dev Status | UNKNOWN |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
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README
BiConMP
This repository is the implentation of the BiConMP solver. The BiConMP is an online whole body trajectory optimizer for legged robots. The trajectory optimizer has generated various dyanmic behaviorus on Quadrupeds (Solo12, AnYmal), Humanoids (Talos)…
The corresponding paper was published in the IEEE Transactions on Robotics and is freely accessible here
Dependencies
Required
- Pinocchio (Version 2.6.4 or greater)
- Crocoddyl (Version 1.8.1 or greater)
- Pybind11
Optional
- bullet_utils (needed to run examples and tutorials) : Installation link
- Robot_Properties_Solo (needed to run examples and tutorials) : Installation link
- OsqpEigen (to use OSQP as the solver): Installation Link
- Meshcat (To visualize soltutions) : Installation Link
- Matplotlib (to plot results)
Installation
Step 1
git clone --recurse-submodules git@github.com:machines-in-motion/biconvex_mpc.git
cd biconvex_mpc
mkdir build && cd build
cmake .. -DCMAKE_BUILD_TYPE=Release
make install -j16
If you want to use OSQP, the cmake instructions should be modified to the following:
cmake .. -DCMAKE_BUILD_TYPE=Release -DOSQP=TRUE
Step 2
After building the package add the following lines to your bashrc to ensure that python can find BiconMP.
export PYTHONPATH=$PYTHONPATH:path/to/the/biconvex/build/folder
Authors
- Avadesh Meduri
- Paarth Shah
Citing
@article{meduri2022biconmp,
title={BiConMP: A Nonlinear Model Predictive Control Framework for Whole Body Motion Planning},
author={Meduri, Avadesh and Shah, Paarth and Viereck, Julian and Khadiv, Majid and Havoutis, Ioannis and Righetti, Ludovic},
journal={IEEE Transactions on Robotics},
pages = {905--922},
volume = {39},
issue = {2},
year={2023}
}
Copyrights
Copyright(c) 2019-2023 New York University
License
BSD 3-Clause License
CONTRIBUTING
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