A framework for trajectory optimization and optimal control for robotics based on CasADi
casadi: built from source (currently not compatible with pip version)- required CMake options:
- -DWITH_PYTHON=ON
- -DWITH_PYTHON3=ON
- required CMake options:
casadi_kin_dyn: built from source, or installed from pip
We suggest to use the forest tool to install the main dependencies of the controller more easily:
[sudo] pip3 install hhcm-forest
mkdir forest_ws && cd forest_ws
forest init
echo ". ~/forest_ws/setup.bash" >> ~/.bashrc
forest add-recipes [email protected]:advrhumanoids/multidof_recipes.git
Once forest has been sucessfully installed, you can now install horizon:
cd ~/forest_ws
forest grow horizon
from source: (in the horizon folder) pip install . --no-deps
pip package: coming soon pip install casadi-horizon
conda package: coming soonconda install horizon -c ftrancesco_ruscelli
Don't forget to check the documentation!
You will obtain hands-on details about the framework: a comprehensive documentation of the project, a collection of demonstrative videos and instructions to use Horizon in Docker.
