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)

0. Install Pixi (from prefix.dev) : see https://pixi.sh/latest/installation/

1. Clone repo.

git clone [email protected]:Simple-Robotics/simple-mpc.git --recursive
cd simple-mpc

2. Build

pixi run build

Dependencies

• Aligator | conda
• proxsuite | conda
• Pinocchio | conda
• hpp-fcl (renamed coal) | conda
• tsid >= 1.9.0 | conda
• ndcurves
• Eigen3 >= 3.3.7
• eigenpy >=3.9.0 (Python bindings)
• (optional) example-robot-data (for tests, benchmarks and examples | conda
• (optional) pybullet (Simulation examples) | conda