![planning](https://github.com/orsoromeo/jet-leg/blob/master/figs/foothold_planning.png)
Feasible Region: an Actuation-Aware Extension of the Support Region
This python library contains the code used for the motion planning formulation proposed in this preprint. In here you can also find the code used to generate the figures and plots of the manuscript.
![planning](https://github.com/orsoromeo/jet-leg/blob/master/figs/4contacts_onlyA.png)
Jet-leg performs common operations over convex
polyhedra in higher dimensions in order to assess the problem of stability and motion feasibility of legged robots.
What you can do with Jet-leg:
- compute the Support region of legged robots as in Bretl. et al. 2008;
- compute the Feasible region of legged robots as in Orsolino. et al. 2019;
- compute force polytopes of legged robots given their URDF;
- compare different leg designs and understand their consequences on the robot's balancing capabilities;
- test various formulations of linear, convex or nonlinear trajectory optimization problems;
Dependencies
APT dependencies:
ROS dependencies:
sudo apt-get install ros-kinetic-graph-msgs
Python dependencies:
- Numpy
- Scipy
- Pycddlib
- Matplotlib
- Pypoman for the manipulation of polyhedrical object
- Pinocchio
The above dependencies can be installed with the following commands:
sudo apt-get install cython libglpk-dev python python-dev python-pip python-scipy
CVXOPT_BUILD_GLPK=1 pip install cvxopt --user
pip install pycddlib --user
pip install pypoman
You can remove all --user
arguments to install these Python modules system-wide.
Optional dependencies:
Testing the library
After completing the installation navigate to the examples folder:
Troubleshooting
- if CVXOPT is not found even after trying the pip-installation, we then suggest to try install the version 1.1.4 of CVXOPT using Synaptic or to clone and install it manually after building.
- IMPORTANTE NOTE: delete every previous installation of cvxopt that is in the system using locate cvxopt (after sudo updatedb)
See also