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HQP_basic

  • This project is the whole-body controller for non-holonomic mobile manipulator.
  • This is based on Hierarchical Quadratic Programming(HQP).
  • This is developed for Ubuntu 16.04.

Related Works

  • A. Escande et al, "Hierarchical quadratic programming: Fast online humanoid-robot motion generation", IJRR, 2014.
  • S. Kim et al, "Continuous Task Transition Approach for Robot Controller Based on Hierarchical Quadratic Programming", IEEE Robotics and Automation Letters, 2019.

Dependencies

  • cmake(version >= 2.8)
  • eigen3
  • qpOASES
  • RBDL(Rigid Body Dynamics Library)
  • V-REP

RBDL Setup

Installing

wget https://bitbucket.org/rbdl/rbdl/get/default.zip
unzip default.zip
cd rbdl-rbdl-0879ee8c548a
mkdir build
cd build
cmake ..
make all
sudo make install

qpOASES setup

Download qpOASES Link

cd qpOASES-3.2.1
mkdir build
cd build
cmake ..
make all
sudo make install

qpOASES error handling

if error occures, add following line to qpOASES-3.2.1/CMakeLists.txt, below PROJECT(qpOASES CXX), which is line 34

add_compile_options(-fPIC)

V-REP setup

How to start with V-REP

Download V-REP Link

cd V-REP_PRO_EDU_.. 
./vrep.sh -gREMOTEAPISERVERSERVICE_-1000_FALSE_TRUE

To increase the speed of the simulation, we modify the initial setup when the connection between the server and the client is made. Please refer to https://github.com/BenjaminNavarro/vrep_remote_api_shm

Compile

cd HQP_basic
mkdir build
cd build
cmake ..
make

Run the code

  1. Start the V-REP with scene Husky_franka_basic.ttt

  2. Run executable

cd build
./test_hqp