mpc-tsid

Dependencies

• Install a Python 3 version (for instance Python 3.6)

• For the following installations each time you see something like "py27", replace it by your Python version ("py36" for instance)

• Install Pinocchio: https://stack-of-tasks.github.io/pinocchio/download.html

• Install Gepetto Viewer: sudo apt install robotpkg-py36-qt4-gepetto-viewer-corba

• Install robot data: sudo apt install robotpkg-example-robot-data

• Install Scipy, Numpy, Matplotlib, IPython: python3.6 -m pip install --user numpy scipy matplotlib ipython

• Install PyBullet: pip3 install --user pybullet

• Install OSQP solver: pip3 install --user osqp

• Install package that handles the gamepad: pip3 install --user inputs

• Install TSID: https://github.com/stack-of-tasks/tsid#installation You can put the repo in another folder if you want, like cd ~/install/ instead of cd $DEVEL/openrobots/src/ for the first line.

Optional

To reduce computation time:

• Install Cython: pip3 install --user cython

• Cythonize the foot trajectory generator: python3.6 setup.py build_ext --inplace