abuibaid/roboplan_mpc

How abuibaid/roboplan_mpc works

roboplan_MPC is a joint-space model-predictive controller for robot arms, with C++ and Python APIs. Its example workflow builds a RoboPlan scene, converts Cartesian targets to joint goals with OInK, sets the MPC goal, and repeatedly solves from the measured state; the predicted trajectory can then be followed or visualized. Internally, the MPC formulates a constrained multiple-shooting problem, using Pinocchio dynamics and symbolic forward kinematics for environment limits, and CasADi solvers. The example and solve flow are excerpted; several solver and trajectory details are documented in the README rather than fully shown in source excerpts.

Main entry points: example_mpc.py MPC example · src/mpc.cpp MPC controller · __init__.py Python API · src/mpc.cpp Nanobind bindings

Components 15

Application workflow

MPC example roboplan_mpc_examples/python/example_mpc.py
Predicted trajectory
Trajectory visualization roboplan_mpc_examples/python/example_mpc.py

MPC API

Python API bindings/python/roboplan/mpc/__init__.py
Nanobind bindings bindings/src/mpc.cpp
MPC API contract include/roboplan_mpc/mpc.hpp

Control formulation

MPC controller src/mpc.cpp
MPC formulation src/mpc.cpp
Symbolic kinematics src/robot_transformation.cpp

Robot integrations

OInK IK
RoboPlan Scene
Pinocchio dynamics
CasADi solver

Other components

Operator
Robot controller

Connections 17

Operator → MPC example: runs example README.md
MPC example → RoboPlan Scene: builds scene roboplan_mpc_examples/python/example_mpc.py
MPC example → OInK IK: solves IK roboplan_mpc_examples/python/example_mpc.py
MPC example → Python API: imports API roboplan_mpc_examples/python/example_mpc.py
Python API → Nanobind bindings: loads extension bindings/python/roboplan/mpc/__init__.py
Nanobind bindings → MPC controller: exposes methods bindings/src/mpc.cpp
MPC controller → MPC API contract: implements API include/roboplan_mpc/mpc.hpp
MPC controller → RoboPlan Scene: uses scene
MPC controller → MPC formulation: sets up problem src/mpc.cpp
MPC formulation → Symbolic kinematics: builds constraints src/mpc.cpp
MPC formulation → Pinocchio dynamics: computes dynamics README.md
MPC formulation → CasADi solver: solves NLP src/mpc.cpp
MPC example → MPC controller: sets goal and solves roboplan_mpc_examples/python/example_mpc.py
MPC example → Predicted trajectory: receives prediction README.md
MPC controller → Predicted trajectory: returns trajectory
Predicted trajectory → Robot controller: follows plan README.md
MPC example → Trajectory visualization: plots and animates roboplan_mpc_examples/python/example_mpc.py

Drawn by GitDiagram on November 11, 2026 from the repository's file tree, README and source files. Read as Markdown ·