Description

MPC using force estimation for contact tasks

Dependencies

• robot_properties_kuka
• Crocoddyl
• Sobec (to be removed soon thanks to Crocoddyl v2.0)
• Pinocchio
• PyBullet
• bullet_utils

Install the C++ code (with optional bindings)

git clone this repo

git submodule update --init

mkdir build && cd build

cmake .. -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=[put_here_the_install_dir_you_want]

make && sudo make install

How to use it

In demos run the contact or sanding task script, e.g. python sanding_mpc.py. You can modify the corresponding config file, e.g. sanding_mpc.yml.

Run the unit test from the build folder by running ctest -v

Import the python bindings of C++ classes with import force_observer