https://github.com/junhyeokahn/pnc
Planning and Control Algorithms for Robotics
https://github.com/junhyeokahn/pnc
optimal-control reinforcement-learning robotics trajectory-optimization whole-body-control
Last synced: 6 months ago
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Planning and Control Algorithms for Robotics
- Host: GitHub
- URL: https://github.com/junhyeokahn/pnc
- Owner: junhyeokahn
- License: mit
- Created: 2018-06-18T16:20:17.000Z (over 7 years ago)
- Default Branch: master
- Last Pushed: 2023-01-20T17:14:44.000Z (almost 3 years ago)
- Last Synced: 2024-04-01T21:36:17.883Z (almost 2 years ago)
- Topics: optimal-control, reinforcement-learning, robotics, trajectory-optimization, whole-body-control
- Language: C++
- Size: 96.6 MB
- Stars: 48
- Watchers: 7
- Forks: 12
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Planning and Control Algorithms for Robotics
PnC is a C++ library designed for generating trajectories for a robot system
and stabilizing the system over the trajectories.
## Installation
- Install [cmake](https://cmake.org/):
```source scripts/install/install_cmake.sh```
- Install [doxygen](https://www.doxygen.nl/index.html):
```source scripts/install/install_doxygen.sh```
- Install [zmq](https://zeromq.org/) and [cppzmq](https://github.com/zeromq/cppzmq):
```source scripts/install/install_zmq.sh```
- Install [protobuf](https://developers.google.com/protocol-buffers):
```source scripts/install/install_protobuf.sh```
- Install [plotjuggler](https://github.com/facontidavide/PlotJuggler):
```source scripts/install/install_plotjuggler.sh```
- Install [dart](http://dartsim.github.io/):
```source scripts/install/install_dart.sh```
- Install [anaconda](https://docs.anaconda.com/anaconda/install/)
- Install python dependancies:
```conda env create -f pnc.yml```
- Clone the repository:
```git clone https://github.com/junhyeokahn/PnC.git```
## Compile and Run the Code
- Initiate python env:
```conda activate pnc```
- Compile:
```mkdir build && cd build && cmake.. && make -j4 ```
- Run dart sim:
``` ./build/bin/run_atlas```
- Run pybullet sim:
```python simulator/pybullet/draco_main.py```
## API documentation
- Create doxygen:
```mkdir build && cd build && cmake.. && make view_docs ```
## Citation
```
@article{10.3389/frobt.2021.712239,
author = {Ahn, Junhyeok and Jorgensen, Steven Jens and Bang, Seung Hyeon and Sentis, Luis},
journal = {Frontiers in Robotics and AI},
pages = {257},
title = {Versatile Locomotion Planning and Control for Humanoid Robots},
volume = {8},
year = {2021}}
```