Merge pull request #12 from ami-iit/humanoidPlanning_planners

Humanoid planning planners

.github/workflows/ci_cd.yml

@@ -37,7 +37,7 @@ jobs:
       - name: Dependencies
         shell: bash -l {0}
         run: |
-          mamba install python=${{ matrix.python }} casadi pytest liecasadi adam-robotics idyntree meshcat-python ffmpeg-python matplotlib
+          mamba install python=${{ matrix.python }} casadi pytest liecasadi adam-robotics idyntree meshcat-python ffmpeg-python matplotlib resolve-robotics-uri-py
           mamba list
 
       - name: Install

README.md

@@ -7,19 +7,36 @@ hippopt is an open-source framework for generating whole-body trajectories for l
 
 ## 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 and examples to help you get started
+- [X] Direct transcription of optimal control problems with multiple-shooting methods
+- [X] Support for floating-base robots, including humanoids ...
+  - [ ] ... and quadrupeds
+- [X] Integration with CasADi library for efficient numerical optimization
+- [X] Generation of optimized trajectories that include both kinematic and dynamic quantities
+- [ ] Extensive documentation
+- [X] examples to help you get started
 
 ## Installation
-It is suggested to use [``conda``](https://docs.conda.io/en/latest/).
+It is suggested to use [``mamba``](https://github.com/conda-forge/miniforge).
 ```bash
-conda install -c conda-forge casadi pytest
+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``](src/hippopt/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``](src/hippopt/turnkey_planners/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``](src/hippopt/turnkey_planners/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``](src/hippopt/turnkey_planners/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``](src/hippopt/turnkey_planners/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``](https://github.com/icub-tech-iit/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:

setup.cfg

@@ -64,6 +64,7 @@ robot_planning=
     adam-robotics
 turnkey_planners=
     idyntree
+    resolve-robotics-uri-py
 visualization=
     ffmpeg-python
     idyntree

src/hippopt/turnkey_planners/humanoid_kinodynamic/.gitignore

@@ -0,0 +1,5 @@
+*.stl
+*.urdf
+frames/*
+*.png
+*.mp4