<img align="center" height="20" src="https://i.imgur.com/vAYeCzC.png"/> Introduction

Crocoddyl is an optimal control library for robot control under contact sequence. Its solvers are based on novel and efficient differential dynamic programming (DDP) algorithms. Crocoddyl computes optimal trajectories and feedback gains. It uses Pinocchio for fast computation of robot dynamics and analytical derivatives.

If you want to learn more about Crocoddyl and its solvers, we suggest reading [1] [2] [3] and visiting PUBLICATIONS.md. If you want to follow the current developments and contribute, please directly refer to the devel branch.

:crocodile: Crocoddyl features

Crocoddyl is versatile:

Various optimal control solvers (DDP, FDDP, BoxFDDP, Ipopt, etc)
Analytical and sparse derivatives via Pinocchio
Differential geometry support leveraging Pinocchio
Various integrators, dynamics, costs and constraints
Numerical differentiation support
Automatic differentiation support via CppAD

Crocoddyl is efficient and flexible:

Cache friendly
Multi-threading support via OpenMP
Python bindings (including abstractions) via Boost Python
C++11/14/17/20 compliant
Extensively tested
Code generation in both C++ and Python via CppADCoGen

:penguin: Installation

Crocoddyl can be easily installed on various Linux (Ubuntu, Fedora, etc.) and Unix distributions (Mac OS X, BSD, etc.). Below, there are different ways to install Crocoddyl.

<img src="https://aur.archlinux.org/static/images/favicon.ico" height="18" /> On ArchLinux

With your favorite AUR helper, eg. paru:

    paru -Syu crocoddyl

:dragon: From <img src="https://s3.amazonaws.com/conda-dev/conda_logo.svg" height="18">

Just run the following command in the terminal:

   conda install crocoddyl -c conda-forge

Conda installation supports .

<img src="https://avatars.githubusercontent.com/u/487568" height="18" /> From Nix

crocoddyl & python3Packages.crocoddyl are available in nixpkgs.

This repository is also a flake, so you may:

run a python shell with crocoddyl: nix run github:loco-3d/crocoddyl
use it in your own flake: crocoddyl.url = "github:loco-3d/crocoddyl";

The build cache use by CI and developers is gepetto.cachix.org

:snake: From <img src="https://res.cloudinary.com/practicaldev/image/fetch/s--4-K6Sjm4--/c_imagga_scale,f_auto,fl_progressive,h_420,q_auto,w_1000/https://cdn-images-1.medium.com/max/1600/1%2A_Wkc-WkNu6GJAAQ26jXZOg.png" height="22">

Just run the following command in the terminal:

  pip install --user crocoddyl

:turtle: With ROS

Just clone it (with --recursive) into a catkin workspace and compile it.

:package: From Debian / Ubuntu packages, with robotpkg

If you have never added robotpkg's software repository, do it now:

sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
EOF

curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
sudo apt update

Install Crocoddyl and its Python bindings:

sudo apt install robotpkg-py3\*-crocoddyl

Configure your environment variables:

export PATH=/opt/openrobots/bin:$PATH
export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH
export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH
export PYTHONPATH=/opt/openrobots/lib/python3.10/site-packages:$PYTHONPATH

:file_folder: From source

Install Crocoddyl's mandatory dependencies:
- pinocchio
- Eigen
- eigenpy
- Boost
(optional) Install Crocoddyl's optional dependencies
- OpenMP (for multi-threading support)
- CppADCoGen (for code-generation support)
- pycppad (for code-generation support)
- Ipopt (for Ipopt support)
- example-robot-data (for robotic examples, install Python loaders)
- gepetto-viewer-corba (for display in Gepetto viewer, i.e., GepettoDisplay)
- meshcat-python (for display in Meshcat, i.e., MeshcatDisplay)
- whole_body_state_rviz_plugin (for display in ROS, i.e., RvizDisplay)
- crocoddyl_msgs (for display in ROS, i.e., RvizDisplay)
- urdf_parser_py (for display in ROS, i.e., RvizDisplay)
- jupyter &nbsp

Crocoddyl

Install / Use

README