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#main (this will grab the latest version of the package from this repository)

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.

Simulator

The differentiable simulator is available as a stand-alone package: RoboDojo.jl.