DDP-ADMM with contact dynamics (standalone)

Standalone version of DDP required orocos-kdl to be installed on the system. https://github.com/orocos/orocos_kinematics_dynamics.git

By default eigen in this repo is used. No need to be installed.

Install (standalone)

• Make a build folder mkdir build && cd build
• cmake ..
• make
• Run ./ddp_contact