https://github.com/stephane-caron/proxqp_balancer
Model predictive controller accompanying the ProxQP paper
https://github.com/stephane-caron/proxqp_balancer
Last synced: 3 months ago
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Model predictive controller accompanying the ProxQP paper
- Host: GitHub
- URL: https://github.com/stephane-caron/proxqp_balancer
- Owner: stephane-caron
- License: apache-2.0
- Created: 2024-09-04T15:32:56.000Z (10 months ago)
- Default Branch: main
- Last Pushed: 2024-10-16T12:25:50.000Z (8 months ago)
- Last Synced: 2025-03-15T03:38:04.499Z (3 months ago)
- Language: Python
- Size: 53.7 KB
- Stars: 8
- Watchers: 1
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# MPC balancer
Model predictive controller used in the real-robot experiments of [PROXQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and Beyond](https://inria.hal.science/hal-04198663v2).
This is an archival repository: the code here matches the one used in the experiments of the paper. Check out the [MPC balancer](https://github.com/upkie/mpc_balancer) for future developments, bug fixes and support.
## Installation
We recommend using Anaconda to install the agent and all dependencies in a clean environment:
```console
conda create -f environment.yaml
conda activate proxqp_balancer
```
Alternatively, you should be able to install the packages listed in the environment file from PyPI.
### HPIPM
HPIPM is not packaged, but instructions to install from source are given in [hpipm](https://github.com/giaf/hpipm#python):
- Clone BLASFEO: `git clone https://github.com/giaf/blasfeo.git`
- From the BLASFEO directory, run: `make shared_library -j 4`
- Check again that you are in your conda environment, then run:
```console
cp -f ./lib/libblasfeo.so ${CONDA_PREFIX}/lib/
cp -f ./include/*.h ${CONDA_PREFIX}/include/
```
- Clone HPIPM: `git clone https://github.com/giaf/hpipm.git`
- From the HPIPM directory, run: `make shared_library -j 4`
- Check again that you are in your conda environment, then run:
```console
cp -f libhpipm.so ${CONDA_PREFIX}/lib/
cp -f ./include/*.h ${CONDA_PREFIX}/include/
```
- Go to `hpipm/interfaces/python/hpipm_python` and run `pip install .`
- Try to import the package in Python:
```py
import hpipm_python.common as hpipm
```
## Usage
To run in simulation, clone the [upkie](https://github.com/upkie/upkie) repository and run:
```console
./start_simulation.sh
```
Activate your conda environment and run the agent by:
```console
python proxqp_balancer.py
```
## Citation
If you use ProxQP or code from this repository in your works, please cite it as follows:
```bibtex
@unpublished{bambade2023proxqp,
title = {{PROXQP: an Efficient and Versatile Quadratic Programming Solver for Real-Time Robotics Applications and Beyond}},
author = {Bambade, Antoine and Schramm, Fabian and Kazdadi, Sarah El and Caron, St{\'e}phane and Taylor, Adrien and Carpentier, Justin},
url = {https://inria.hal.science/hal-04198663},
note = {working paper or preprint},
year = {2023},
month = Sep,
}
```
## See also
- [MPC balancer](https://github.com/upkie/mpc_balancer): where future development on this code will happen.