CentroEPiaggio / aslr_to

Implementation of DDP based optimal control for soft actuated robot

ASR_TO (Trajectory Optimsation For Articulated Soft Robots)

A prototype code in python for optimal control problem of soft actuated robots.

• crocodddyl
• pinocchio
• example-robot-data (optional for examples, install Python loaders)
• gepetto-viewer-corba (optional for display)
• matplotlib (optional for examples)

Building from source

The code completely written in Python, however, we still need to compile it (using cmake) to be able to install, run examples and unittest. The compilation is as simple as:

mkdir build & cd build
cmake ../
make
sudo make install

You can run examples, unit-tests and benchmarks from your build dir:

cd build
make test