C3

Consensus Complementarity Control

This is a standalone repository for the C3 algorithm. For more in-depth examples, see dairlib. Currently we only officially support Ubuntu 22.04.

Build from source

1. Clone C3 (Don't change to the c3 directory yet)

git clone --filter=blob:none git@github.com:DAIRLab/c3.git 

2. Install Drake's dependencies by running the commands below. This will download the specific Drake release used by C3, and install the corresponding dependencies.

git clone --depth 1 --branch v1.35.0 https://github.com/RobotLocomotion/drake.git
sudo drake/setup/ubuntu/install_prereqs.sh

3. Follow the instructions at https://drake.mit.edu/bazel.html to install Gurobi 10.0
4. Change to the C3 Directory, and build the repo:

cd c3
bazel build ...

5. Run an example program

bazel-bin/bindings/test/c3_py_test

6. You may delete the copy of Drake we cloned in step 3