Model Predictive Control for Bipedal Robot in MuJoCo Simulator

Build Package

Install ROS2

Option 1: Refer to ROS2 official doc.

Option 2: Refer to fishros (recommended)

Use wget http://fishros.com/install -O fishros && . fishros to install ros2

Dependence

Pinocchio:

pip install pin

Proxsuite:

pip install proxsuite

Hpipm:

Please refer to hpipm official doc to install it.

Build

cd ${source folder} 
colcon build
source install/setup.bash

Alternatively, echo "source ~/${source folder}/install/setup.bash" >> ~/.bashrc , do not forget to source ~/.bashrc

Run Package

Run Controller

ros2 launch management management.launch.py 

Run Simulation

ros2 launch sim sim.launch.py 

Tips

The performance really depends on the usage of CPU. Better CPU for better performance.