Dynamical Systems and Controllers used in hitting experiments

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

Run simulation with python3 simulation_flux_hit.py

Currently getting inertia matrix from Pybullet

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

git clone -b fix/model-structure [email protected]: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

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

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:https://localhost:5656/
4. In another terminal, navigate to the root of this repo (hitting_sim)
5. Run the controller

python3 simulation_agx.py