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Humanoid Navigation using Control Barrier Functions

Installation/Quick start

First you need to create your python environment with conda and install pip for the packages:

conda create -n amr_mpc
conda install pip

Then you need to activate your environment as follows:

conda activate amr_mpc

In order to install everything you just need to execute the following command inside the repository:

python -m pip install -e .

Or you can directly use the standard virtual environment .venv as follows:

python3 -m venv .venv

source .venv/bin/activate

pip install -e .

CONTAINER INSTRUCTIONS

  • Open Docker

  • Enter the folder where you have cloned the repository: cd AMRProject

  • Build the Container, with arm64 for Mac ARM Processor:

    docker build --platform linux/arm64 -t amr_project .

  • To run the Container without re-building it every time. It saves the changes instantaneously.

    docker run --platform linux/arm64 -it --name amr_project -v "$(pwd):/amr_prj" amr_project

    With this command you are inside the Container and you are able to Run the files.

  • To Re-Start the Container (when closing and opening the pc, for example):

    docker run -it --name amr_project

Other useful commands

  • Stop the Container (from an external terminal): docker stop amr_project

  • Stop the Container (from the internal terminal): ctrl + D

  • Remove the Container (from an external terminal): docker rm amr_project

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