Simple-mpc

Simple-mpc is a C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver.

It can be used with quadrupeds and bipeds to generate whole-body walking motions based on a pre-defined contact plan.

Features

The Simple-mpc library provides:

• an interface to generate different locomotion gaits in a MPC-like fashion
• Python bindings to enable fast prototyping
• three different kinds of locomotion dynamics (centroidal, kinodynamics and full dynamics)

Installation

Build from source (devel)

1. Clone repo.

mkdir -p simple-mpc_ws/src
cd simple-mpc_ws/src
git clone git@github.com:Simple-Robotics/simple-mpc.git --recursive

2. Create conda environment. (It is recommended to use mamba instead of conda for faster/better dependencies solving)

mamba env create -f simple-mpc/environment-devel.yaml
mamba activate simple-mpc-devel

3. Clone some dependencies (Some dependencies are not available on conda, or not with adequate versions) (vcs allow for cloning and managing multiple repo at once)

vcs import --recursive < simple-mpc/devel-git-deps.yaml

4. Build all dependencies of simple-mpc: (Due to a renaming issue, you may need to rename hpp-fcl into coal in the package.xml file of the Pinocchio library)

export MAKEFLAGS="-j4" # It is recommended to reduce the number of jobs as you ram might get full easily with the default number.
cd ..
colcon build --event-handlers console_direct+ --packages-ignore simple-mpc --cmake-args \
-DCMAKE_BUILD_TYPE=Release             \
-DCMAKE_PREFIX_PATH=$CONDA_PREFIX      \
-DPYTHON_EXECUTABLE=$(which python)    \
-DCMAKE_CXX_COMPILER_LAUNCHER='ccache' \
-DBUILD_TESTING=OFF                    \
-DBUILD_DOCUMENTATION=OFF              \
-DBUILD_EXAMPLES=OFF                   \
-DBUILD_BENCHMARK=OFF                  \
-DBUILD_BENCHMARKS=OFF                 \
-DBUILD_WITH_COLLISION_SUPPORT=ON      \
-DGENERATE_PYTHON_STUBS=OFF            \
-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON

5. Source the environment and install simple-mpc:

source install/setup.bash
colcon build --packages-select simple-mpc

6. Source the environment one more time (This step needs to be repeated every time a new shell is opened. It can be put in your ~/.bashrc)

mamba activate simple-mpc-devel # If not already done
source install/setup.bash

Dependencies

• proxsuite-nlp
• proxsuite
• Eigen3 >= 3.3.7
• Boost >= 1.71.0
• OpenMP
• hpp-fcl
• Pinocchio | conda
• Aligator devel branch
• example-robot-data
• ndcurves
• (optional) eigenpy>=3.9.0 (Python bindings)
• (optional) bullet (Simulation examples)