pympc-quadruped

A Python implementation about quadruped locomotion using convex model predictive control (MPC).

Installation

1. Create a Virtual Environment

a. Install virtualenv:

$ sudo apt install python3-virtualenv

or

$ pip install virtualenv

b. Create a virtual environment:

$ cd ${path-to-pympc-quadruped}
$ virtualenv --python /usr/bin/python3.8 pympc-env

2. Install Simulators

a. Mujoco

• Create a folder named .mujoco in your home directory: $ mkdir ~/.mujoco.
• Download Mujoco library from https://mujoco.org/download/mujoco210-linux-x86_64.tar.gz. Extract and move it to the .mujoco folder.
• Add the following to your .bashrc file:

  export LD_LIBRARY_PATH=/home/${your-usr-name}/.mujoco/mujoco210/bin
  export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:/usr/lib/nvidia
  export PATH="$LD_LIBRARY_PATH:$PATH"
  export LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libGLEW.so
  

  Do not forget to run $ source ~/.bashrc.
• Test if the installation is successfully finished:

  $ cd ~/.mujoco/mujoco210/bin
  $ ./simulate ../model/humanoid.xml
  

b. Isaac Gym

• Download Isaac Gym Preview Release from this website.
• The tutorial for installation is in the ./isaacgym/docs/install.html. I recommand the user to install it in the previous virtual environment.

  $ cd ${path-to-issacgym}/python
  $ source ${path-to-pympc-quadruped}/pympc-env/bin/activate
  (pympc-env)$ pip install -e .
  

• Then you can trying to run examples in ./isaacgym/python/examples. Note that if you follow the instructions above, you need to run the examples in the virtual environments.

  $ cd ${path-to-isaacgym}/python/examples
  $ source ${path-to-pympc-quadruped}/pympc-env/bin/activate
  (pympc-env)$ python 1080_balls_of_solitude.py
  

• For troubleshooting, check ./isaacgym/docs/index.html

Note: If you meet the following issue like ImportError: libpython3.7m.so.1.0: cannot open shared object file: No such file or directory when running the examples, you can try export LD_LIBRARY_PATH=/path/to/conda/envs/your_env/lib before executing your python script. If you are not using conda, the path shoud be /path/to/libpython/directory.

3. Install Dependences

a) Install Pinocchio

Pinocchio provides the state-of-the-art rigid body kinematics and dynamic algorithms. You could follow this link to install Pinocchio.

b) Install other dependences

$ cd ${path-to-pympc-quadruped}
$ source ${path-to-pympc-quadruped}/pympc-env/bin/activate
(pympc-env)$ pip install --upgrade pip
(pympc-env)$ pip install -r requirements.txt 

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