Hitting_sim

Dynamical Systems and Controllers used in hitting experiments

Dependencies

1. numpy
2. scipy
3. pybullet
4. qpsolvers, osqp
5. pclick (only for AGX sim)
6. roboticstoolbox-python (only for AGX sim)

Run pip install -r requirements.txt

Running the controller using Pybullet

Run simulation with python3 simulation_flux_hit.py

Running the controller using AGX

Currently getting inertia matrix from Pybullet

Get URDF-app

1. Clone the urdf-application in branch fix/model-structure

git clone -b fix/model-structure git@git.algoryx.se:algoryx/external/i-am/urdf-application.git

2. Follow the docker installation steps here https://git.algoryx.se/algoryx/external/i-am/urdf-application#installing-docker
3. Log in to the docker registry with the credentials you have to login in gitlab

sudo docker login registry.algoryx.se

Get custom AGX scene

1. Navigate to the Project folder

cd urdf-application/PythonApplication/models/Projects

2. Clone the repo containing the custom AGX scene

git clone https://github.com/Elise-J/iam_sim_agx.git

Start simulation

1. Navigate to the PythonApplication folder of the urdf-application

cd urdf-application/PythonApplication

2. Launch AGX simulation

sudo python3 ../run-in-docker.py python3 click_application.py --model models/Projects/i_am_project/Scenes/IiwaPybullet.yml --timeStep 0.005 --agxOnly --rcs --portRange 5656 5658 --disableClickSync

3. The simulation can be seen at http://localhost:5656/
4. In another terminal, navigate to the root of this repo (hitting_sim)
5. Run the controller

python3 simulation_agx.py