NMPC-based Robotic examples

Prerequisite

• python setup

$ mkdir mpc_ws && cd mpc_ws
$ sudo apt-get install python3.8-dev python3.8-venv
$ python3.8 -m venv .venv
$ source .venv/bin/activate
$ pip install jupyter ipykernel wheel
$ python -m ipykernel install --user --name .venv --display-name tasho_venv

• clone repositories

# robot-model-hyu
$ git clone https://github.com/SHKim-HYU/robot-model-hyu.git
$ cd robot-model-hyu && pip install . && cd ../
# tasho
$ git clone https://github.com/SHKim-HYU/tasho.git
$ cd tasho && pip install . && cd ../
# examples
$ git clone https://github.com/SHKim-HYU/NMPC_Examples.git
$ cd NMPC_Examples

• run jupyter-notebook

# (pwd)NMPC_Examples
$ jupyter-notebook

Toolkits

1. Rockit

   • https://gitlab.kuleuven.be/meco-software/rockit

2. URDF2CASADI

   • https://github.com/alejandroastudillo/urdf2modelcasadi
   • https://gitlab.kuleuven.be/meco-software/robot-models-meco
   • https://github.com/SHKim-HYU/robot-model-hyu

3. Tasho

   • https://gitlab.kuleuven.be/meco-software/tasho
   • https://github.com/SHKim-HYU/tasho