This repo contains the centroidal motion planner based on a Biconvex solver and DDP based non linear IK
- Pinocchio (Version 2.6.4 or greater)
- Crocoddyl (Version 1.8.1 or greater)
- Pybind11
- 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)
git clone --recurse-submodules [email protected]: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
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
- Avadesh Meduri
- Paarth Shah
@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={arXiv preprint arXiv:2201.07601},
year={2022}
}
Copyright(c) 2019-2020 New York University, Max Planck Gesellschaft
BSD 3-Clause License