hippopt

HIgh Performance* Planning and OPTimization framework

hippopt is an open-source framework for generating whole-body trajectories for legged robots, with a focus on direct transcription of optimal control problems solved with multiple-shooting methods. The framework takes as input the robot model and generates optimized trajectories that include both kinematic and dynamic quantities.

*supposedly

Features

Direct transcription of optimal control problems with multiple-shooting methods
Support for floating-base robots, including humanoids ...
- ... and quadrupeds
Integration with CasADi library for efficient numerical optimization
Generation of optimized trajectories that include both kinematic and dynamic quantities
Extensive documentation
examples to help you get started

Installation

It is suggested to use mamba.

conda install -c conda-forge -c robotology python=3.11 casadi pytest liecasadi adam-robotics idyntree meshcat-python ffmpeg-python matplotlib resolve-robotics-uri-py
pip install --no-deps -e .[all]

Examples

Turnkey planners

The folder turnkey_planners contains examples of whole-body trajectory optimization for legged robots. In this folder it is possible to find the following examples:

humanoid_pose_finder/main.py: generates a static pose for the humanoid robot ergoCub given desired foot and center of mass positions.
humanoid_kinodynamic/main_single_step_flat_ground.py: generates a kinodynamic trajectory for the humanoid robot ergoCub to perform a single step motion with no a-priori guess or terminal constraint.
humanoid_kinodynamic/main_periodic_step.py: generates a kinodynamic trajectory for the humanoid robot ergoCub to perform a periodic walking motion.
humanoid_kinodynamic/main_walking_on_stairs.py: generates a kinodynamic trajectory for the humanoid robot ergoCub to perform a walking motion on stairs.

Important

For the tests to run, it is necessary to clone ergocub-software and extend the GAZEBO_MODEL_PATH environment variable to include the ergocub-software/urdf/ergoCub/robots and ergocub-software/urdf folders.

Note

It is necessary to launch the examples from a folder with write permissions, as the examples will generate several files (ground meshes, output videos, ...).

Citing this work

If you find the work useful, please consider citing:

@ARTICLE{dafarra2022dcc,
  author={Dafarra, Stefano and Romualdi, Giulio and Pucci, Daniele},
  journal={IEEE Transactions on Robotics}, 
  title={Dynamic Complementarity Conditions and Whole-Body Trajectory Optimization for Humanoid Robot Locomotion}, 
  year={2022},
  volume={38},
  number={6},
  pages={3414-3433},
  doi={10.1109/TRO.2022.3183785}}

Maintainer

This repository is maintained by:


	@S-Dafarra

ami-iit / hippopt