TOPP-MPC

Source code for https://hal.archives-ouvertes.fr/hal-01363757/document

Installation

On Ubuntu 14.04, you will need to install OpenRAVE and TOPP. Then, clone this repository and its submodule via:

git clone --recursive https://github.com/stephane-caron/topp-mpc.git

If you already have pymanoid installed on your system, make sure to run the main script from the project folder directly (so that it uses the local rather than system version of pymanoid).

Usage

Run the main script ./walk.py. Then, you can

• start simulations by typing sim.start() in the Python prompt, or
• use sim.step(n) to run simulations in stepping mode for n steps.

The state of all objects can be inspected using the global variables robot, fsm (state machine) and mpc (preview controller).

Robot model

Due to the copyright problem, we cannot release the COLLADA model HRP4R.dae used to produce the accompanying video and paper illustrations. It is replaced at run time by JVRC-1, which has the same kinematic chain.