Simple-mpc is a C++ implementation of multiple predictive control schemes for locomotion based on the Aligator optimization solver.

It can be used with quadrupeds and bipeds to generate whole-body walking motions based on a pre-defined contact plan.

The Simple-mpc library provides:

• an interface to generate different locomotion gaits in a MPC-like fashion
• Python bindings to enable fast prototyping
• three different kinds of locomotion dynamics (centroidal, kinodynamics and full dynamics)

1. Clone repo.

mkdir -p simple-mpc_ws/src cd simple-mpc_ws/src git clone git@github.com:Simple-Robotics/simple-mpc.git --recursive

2. Create conda environment. (It is recommended to use mamba instead of conda for faster/better dependencies solving)

mamba env create -f simple-mpc/environment-devel.yaml mamba activate simple-mpc-devel

3. Clone some dependencies (Some dependencies are not available on conda, or not with adequate versions) (vcs allow for cloning and managing multiple repo at once)

vcs import --recursive < simple-mpc/devel-git-deps.yaml

4. Build all dependencies of simple-mpc: (Due to a renaming issue, you may need to rename hpp-fcl into coal in the package.xml file of the Pinocchio library)

export MAKEFLAGS="-j4" # It is recommended to reduce the number of jobs as you ram might get full easily with the default number. cd .. colcon build --event-handlers console_direct+ --packages-ignore simple-mpc --cmake-args \ -DCMAKE_BUILD_TYPE=Release \ -DCMAKE_PREFIX_PATH=$CONDA_PREFIX \ -DPYTHON_EXECUTABLE=$(which python) \ -DCMAKE_CXX_COMPILER_LAUNCHER='ccache' \ -DBUILD_TESTING=OFF \ -DBUILD_DOCUMENTATION=OFF \ -DBUILD_EXAMPLES=OFF \ -DBUILD_BENCHMARK=OFF \ -DBUILD_BENCHMARKS=OFF \ -DBUILD_WITH_COLLISION_SUPPORT=ON \ -DGENERATE_PYTHON_STUBS=OFF \ -DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON

5. Source the environment and install simple-mpc:

source install/setup.bash colcon build --packages-select simple-mpc

6. Source the environment one more time (This step needs to be repeated every time a new shell is opened. It can be put in your ~/.bashrc)

mamba activate simple-mpc-devel # If not already done source install/setup.bash

• proxsuite
• Eigen3 >= 3.3.7
• Boost >= 1.71.0
• OpenMP
• hpp-fcl
• Pinocchio | conda
• Aligator temporary_fix branch
• example-robot-data
• ndcurves
• (optional) eigenpy>=3.9.0 (Python bindings)
• (optional) bullet (Simulation examples)