ContactImplicitMPC.jl
This repository contains algorithms and examples from our paper: Fast Contact-Implicit Model-Predictive Control.
A collection of examples are pre-generated in notebooks with the package, please try: flamingo, pushbot, hopper, and quadruped. Additional notebooks with examples from the paper can be generated.
Installation
ContactImplicitMPC
can be added via the Julia package manager (type]
):pkg> add ContactImplicitMPC
Flamingo
PushBot
Hopper Parkour
Quadruped with Payload
Hopper Monte Carlo
Quadruped Monte Carlo
Reference Trajectories
The trajectories we track in the examples are generated using contact-implicit trajectory optimization and can be run here.