Trajectory optimization package for Mini-Pupper robot

Purpose of this repository is to provide low-torque and low-impact trajectory for Mini-Pupper quadrupedal robot.

Requirements

• Pinocchio
• robotoc
• meshcat-python

First, install Pinocchio by following the instruction. Next, install robotoc at ROBOTOC_INSTALL_DIR as

git clone https://github.com/mayataka/robotoc & cd robotoc
mkdir build & cd build
cmake .. -DCMAKE_BUILD_TYPE=Release -DOPTIMIZE_FOR_NATIVE=ON -DCMAKE_INSTALL_PREFIX=ROBOTOC_INSTALL_DIR
make install -j4

and modify Python path as

export PYTHONPATH=ROBOTOC_INSTALL_DIR/lib/python3.8/site-packages:$PYTHONPATH 

e.g., write it in ~/.bashrc. Finally, install meshcat-python as

pip install meshcat

Running the trajectory optimizer

In mini_pupper_trajopt/trajopt directory, you can run examples of the mini-pupper's gait optimization. You can change the gait parameters such as step length, step height, step timinigs, etc. It visualizes the solution trajectory and save the trajectory.

Deploying the trajectory to the mini-pupper controller

TODO