minimal_examples_crocoddyl

Demo scripts to quickly get started with Crocoddyl and MPC.

An easy way to integrate this package is to clone this repository into your project and import ocp_utils and pin_utils for your use.

Dependencies

For OCP and MPC scripts

• mim_robots
• Crocoddyl
• matplotlib

For visualization (optional)

• meshcat
• gepetto-viewer

Usage

For the reaching task, run python ocp_kuka_reaching.py to solve the OCP and visualize / plot the solution. Run python mpc_kuka_reaching.py to simulate it in MPC in PyBullet. Same for contact task.

The scripts are minimal and self-explanatory. The machinery for data extraction and plotting is hidden in the utils.

Copyrights

Copyright(c) 2019-2023 New York University

License

BSD 3-Clause License