CoMoDO

Control Motion Design Optimization

Suite of parametrized controller and simulator for codesign of robots.

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⚠️ REPOSITORY UNDER DEVELOPMENT ⚠️
We cannot guarantee stable API

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Installation

This library depends on

• casadi
• numpy
• idyntree
• bipedal-locomotion-framework
• adam-robotics
• mujoco
• mujoco-python-viewer
• matplotlib
• urllib3
• urchin
• jaxsim

To install you can use the following commands

conda create -n comododev -c conda-forge adam-robotics bipedal-locomotion-framework=0.19.0 mujoco-python-viewer matplotlib urllib3 urchin notebook jaxsim

conda activate comododev
pip install --no-deps git+https://github.com/CarlottaSartore/urdf-modifiers.git@scalar_modification
pip install --no-deps -e .

With hippopt

conda install -c conda-forge -c robotology casadi pytest liecasadi  meshcat-python ffmpeg-python
pip install --no-deps git+https://github.com/ami-iit/hippopt.git

With Drake

Working with drake as the simulator backend requires the following additional dependencies,

conda install meshio tqdm
pip install drake git+https://github.com/ami-iit/amo_urdf

Usage

Take a look at the examples folder!

Maintainer

This repository is maintained by

	@CarlottaSartore