horizon

A framework for trajectory optimization and optimal control for robotics based on CasADi

Dependencies

• casadi: built from source (currently not compatible with pip version)
  • required CMake options:
    • -DWITH_PYTHON=ON
    • -DWITH_PYTHON3=ON
• casadi_kin_dyn: built from source, or installed from pip

Install

Suggested way:

We suggest to use the forest tool to install the main dependencies of the controller more easily:

[sudo] pip3 install hhcm-forest
mkdir forest_ws && cd forest_ws
forest init
echo ". ~/forest_ws/setup.bash" >> ~/.bashrc
forest add-recipes git@github.com:advrhumanoids/multidof_recipes.git

Once forest has been sucessfully installed, you can now install horizon:

cd ~/forest_ws
forest grow horizon

Other options:

from source: (in the horizon folder) pip install . --no-deps

pip package: pip install casadi-horizon coming soon
conda package: conda install horizon -c ftrancesco_ruscelli coming soon

Documentations

Don't forget to check the documentation!
You will obtain hands-on details about the framework: a comprehensive documentation of the project, a collection of demonstrative videos and instructions to use Horizon in Docker.

Try it!