This repository contains source of training material for the Impact Workshop 2025
. The topics covered are:
- Recap of Nonlinear Programming, Optimal Control and Model Predictive Control
- Tutorial 1: Using Impact to rapidly specify, prototype and deploy model predictive controllers
- Tutorial 2: Neural Network-MPC
Should work for Windows, Linux and Mac.
If you have not installed Conda, you should first install Miniconda. Miniconda is a minimal installer for Conda. You can install Miniconda by following these steps:
- Download the Miniconda installer for Linux from the Miniconda website.
- Open a terminal.
- Navigate to the directory where you downloaded the installer.
- Run the installer with the following command, replacing
Miniconda3-latest-Linux-x86_64.sh
with the name of the file you downloaded:bash Miniconda3-latest-Linux-x86_64.sh
- Follow the on-screen instructions to complete the installation.
- Close and reopen your terminal to apply the changes.
For Windows users, follow these steps to install Miniconda:
- Download the Miniconda installer for Windows from the Miniconda website.
- Double-click the downloaded file to start the installation.
- Follow the on-screen instructions, making sure to check the option to "Add Miniconda to my PATH environment variable" for an easier use of Conda from the command prompt.
- After installation, open the Command Prompt or Anaconda Prompt from the Start menu to start using Conda.
- If you don't plan on using Matlab, pick PYTHON_VERSION=3.12
- If you do plan on using Matlab, choose the highest version that is listed for your Matlab version at https://nl.mathworks.com/support/requirements/python-compatibility.html
conda create --name workshop_impact python=<PYTHON_VERSION> -y --channel=defaults --override-channels
conda activate workshop_impact
(Only Windows) $ conda install -y --channel conda-forge cmake clang=15 lld=15 llvmdev=15 ninja
(Only linux and Mac) $ conda install -y --channel conda-forge cmake clang lld llvmdev ninja
pip install -r requirements.txt
- Run
python test.py
You'll be queried "Do you wish to set up Tera renderer automatically?" Answer 'y'.
This file should run succesfully.
This work is licensed under a Creative Commons Attribution 4.0 International License.