curobo.model_predictive_control module¶

Model predictive control module.

This module provides model predictive control for real-time trajectory tracking with warm-start optimization and obstacle avoidance.

Example

```python from curobo import ModelPredictiveControl, ModelPredictiveControlCfg from curobo.types import JointState, Pose

# Setup MPC config = ModelPredictiveControlCfg.create(

robot=”franka.yml”, scene_model=”scene.yml”, optimization_dt=0.02, interpolation_steps=4,

) mpc = ModelPredictiveControl(config)

# Setup problem with current state current_state = JointState.from_position([0.0, -0.5, 0.0, -2.0, 0.0, 1.5, 0.0]) mpc.setup(current_state)

# Update goal poses target_pose = Pose(position=[0.5, 0.0, 0.5], quaternion=[1, 0, 0, 0]) mpc.update_goal_tool_poses({“ee_link”: target_pose})

# Control loop while not done:

current_state = get_robot_state() result = mpc.optimize_action_sequence(current_state) for action in result.action_sequence:

robot.execute(action)

ModelPredictiveControlCfg¶: alias of curobo._src.solver.solver_mpc_cfg.MPCSolverCfg

ModelPredictiveControlResult¶: alias of curobo._src.solver.solver_mpc_result.MPCSolverResult