ReSTO: Reaction-Suppressing Trajectory Optimization

Requirements

• Ubuntu 22.04
• ROS 2 (Humble)
• MuJoCo (v3.4.0)
• Pinocchio
• Crocoddyl

Installation

# Clone repository
mkdir -p ~/resto_ws/src
cd ~/resto_ws/src
git clone --recursive https://github.com/Space-Robotics-Laboratory/ReSTO.git

# Build
cd ~/resto_ws

# If MuJoCo is installed in a standard location (e.g., /usr/local or /opt/mujoco), simply run:
colcon build --symlink-install

# If MuJoCo is installed in a custom directory (e.g., ~/.mujoco/mujoco-3.4.0), specify the prefix:
colcon build --symlink-install --cmake-args -DMUJOCO_PREFIX=$HOME/.mujoco/mujoco-3.4.0

source install/setup.bash

How to Run Simulations

• Terminal #1

  • Build

    colcon build --symlink-install && . install/setup.bash

  • Launch simulation node

    • ReSTO (Reaction-Suppression Trajectory Optimization)

      ros2 launch mlivr_sim resto_sim.launch.py

    • Baseline (Standard Manipulation Jacobian)

      ros2 launch mlivr_sim baseline_sim.launch.py

    • GJM (Generalized Jacobian Matrix)

      ros2 launch mlivr_sim gjm_sim.launch.py

    • RAMP (Reaction-Aware Motion Planning)

      ros2 launch mlivr_sim ramp_sim.launch.py

• Terminal #2

  • Trigger simulation start

    . install/setup.bash
    ros2 topic pub --once /start_control std_msgs/msg/Bool "{data: true}"

Acknowledgements

This project builds upon several excellent open-source works. For detailed credits and licenses regarding the 3D meshes and URDF models, please see the mlivr_description/README.