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Description

  • This repository provide Dockerfile and scripts to build crocoddyl from source easily
  • Click to watch the video

Example GIF

Build & run docker container

./scripts/start-ws.sh

Build crocoddyl

# run in container
cd /root/code/crocoddyl_ws
./scripts/crocoddyl-build.sh
export PYTHONPATH=/root/code/crocoddyl_ws/devel/lib/python3.8/site-packages:$PYTHONPATH
export CROCODDYL_DISPLAY=1
export CROCODDYL_PLOT=1
python3 src/crocoddyl/examples/bipedal_walk_invdyn.py 

Install crocoddyl with conda (Optional)

  • This may conflict with the crocoddyl build from source.
  • Recommaned if you only need to use crocoddyl.
cd <crocoddyl-ws>/scripts
wget -N https://repo.anaconda.com/miniconda/Miniconda3-latest-Linux-x86_64.sh
chmod +x Miniconda3-latest-Linux-x86_64.sh
./Miniconda3-latest-Linux-x86_64.sh -b
~/miniconda3/bin/conda init
source ~/.bashrc
conda create -y -n crocoddyl_ws python=3.12
conda activate crocoddyl_ws
conda install -y -c conda-forge crocoddyl cppadcodegen gepetto-viewer-corba meshcat-python matplotlib

Issue

  1. gepetto-viewer、gepetto-viewer-corba can't build successfully

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