tinympc-mujoco

A reference implementation of TinyMPC in pure Python with MuJoCo simulation. The original C++ implementation can be found here.

Features

• Quadrotor hover control
• Trajectory tracking with figure-8 pattern
• Adaptive MPC with penalty parameter (rho) adaptation
• Wind disturbance simulation
• Performance metrics and visualization tools

Installation

Prerequisites

# Required Python packages
numpy
matplotlib
scipy
autograd

Setup

git clone git@github.com:TinyMPC/tinympc-mujoco.git
cd tinympc-mujoco

Usage

Basic usage examples:

# Run hover control
python3 examples/hover/hover.py

# Run hover with rho adaptation
python3 examples/hover/hover.py --adapt

# Run trajectory tracking
python3 examples/traj/traj.py

# Run trajectory with rho adaptation
python3 examples/traj/traj.py --adapt

# Run with wind disturbance
python3 examples/traj/traj.py --wind

Command Line Arguments

• --adapt: Enable rho adaptation
• --wind: Enable wind disturbance (functionality enabled only for trajectory tracking for now)

Project Structure

├── src/
│   ├── quadrotor.py         # Quadrotor dynamics
│   ├── tinympc.py          # MPC implementation
│   └── rho_adapter.py      # Adaptive parameter handling
├── utils/
│   ├── visualization.py    # Plotting utilities
│   ├── traj_simulation.py  # Simulation tools
│   ├── hover_simulation.py  # Simulation tools
│   └── reference_trajectories.py
├── examples/
│   ├── hover/
│   │   └── hover.py        # Hover control example
│   └── traj/
│       └── traj.py         # Trajectory tracking example
└── data/                   # Simulation results and metrics

Third-Party Assets

This repository includes MuJoCo model/assets in mujoco_sim/ derived from google-deepmind/mujoco_menagerie, specifically bitcraze_crazyflie_2.

Those imported assets remain subject to their original MIT license. See mujoco_sim/LICENSE.