PyPnC

PyPnC is a python library designed for generating trajectories for a robot system and stabilizing the system over the trajectories.

Installation

• Install anaconda
• Clone the repository:
  $ git clone https://github.com/carlosiglezb/PyPnC.git
• Create a virtual environment and install dependencies:
  $ conda env create -f pypnc_croc.yml
• Activate the environment:
  $ conda activate pypnc-multicontact

Note: The multicontact modules have only been tested in Ubuntu 20.04 LTS.

Common Issues

If you get an error related to cython (e.g., when installing pypoman), make sure you have installed the libccd library for collision detection:
$ sudo apt install libccd-dev

Running Examples

Three Link Manipulator Control with Operational Space Control

• Run the code:
  $ python simulator/pybullet/manipulator_main.py

Atlas Walking Control with DCM planning and IHWBC

• Run the code:
  $ python simulator/pybullet/atlas_dynamics_main.py
• Send walking commands through keystroke interface. For example, press 8 for forward walking, press 5 for in-place walking, press 4 for leftward walking, press 6 for rightward walking, press 2 for backward walking, press 7 for ccw turning, and press 9 for cw turning.
• Plot the results:
  $ python plot/atlas/plot_task.py --file=data/history.pkl

Atlas Locomotion Planning with TOWR+

• For TOWR+, install additional dependancy ifopt
• Train a Composite Rigid Body Inertia network and generate files for optimization:
  $ python simulator/pybullet/atlas_crbi_trainer.py and press 5 for training
• Run TOWR+:
  $ mkdir build && cd build && cmake .. && make -j6 && ./atlas_forward_walk
• Plot the optimized trajectory:
  $ python plot/plot_towr_plus_trajectory.py --file=data/atlas_forward_walk.yaml --crbi_model_path=data/tf_model/atlas_crbi
• Replay the optimized trajectory with the robot:
  $ python simulator/pybullet/atlas_kinematics_main.py --file=data/atlas_forward_walk.yaml

Citation

@article{10.3389/frobt.2021.712239,
	author = {Ahn, Junhyeok and Jorgensen, Steven Jens and Bang, Seung Hyeon and Sentis, Luis},
	journal = {Frontiers in Robotics and AI},
	pages = {257},
	title = {Versatile Locomotion Planning and Control for Humanoid Robots},
	volume = {8},
	year = {2021}}