README.md

July 17, 2019 ยท View on GitHub

PD controller tests

Launch bot-procman-sherrif using the cassie_test.pmd configuration file. Currently, you must bein the root dairlib directory for this to work properly.

bot-procman-sherrif examples/Cassie/cassie_test.pmd

Note: if you've installed libbot2, using apt, bot-procman-sherrif is probably located in /opt/libbot2/0.0.1.20180130/bin/ or a similar directory. Running bot-procman-sherrif -l will allow you to skip the "Spawn local deputy" step.

Local Gazebo simulation (with dispatcher)

The following steps will launch a PD controller and simulation:

  1. Options->Spawn local deputy (allows launching of processes)
  2. Right-click and start drake-director and state-visualizer. It's a good idea to allow Director to open before launching the visualizer.
  3. Right-click and start pd-controller and dispatcher
  4. Start the Gazebo simulation

Mujoco simulation

You will first need to install Mujoco and the Cassie simulator. Instructions for installation are here: https://github.com/DAIRLab/cassie-mujoco-sim

It is recommended that you use the mujoco200 branch

The default Agility simulation has been modified in a few ways. Most critically, it also outputs LCM messages alongside the UDP message. The simulation can be run via the cassie_test.pmd procman script.

See cassiesim.c for a full list of options.

Gazebo simulation

You will first need to install Gazebo and the Cassie simulator. Instructions for installation are here: https://github.com/DAIRLab/cassie-gazebo-sim

Note: you will need to cmake ../plugins if you put the build directory inside the root cassie-gazebo-sim

  1. source /usr/share/gazebo/setup.sh
  2. export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:<WORKSPACE>/cassie-gazebo-sim/
  3. export GAZEBO_RESOURCE_PATH=$GAZEBO_RESOURCE_PATH:<WORKSPACE>/cassie-gazebo-sim/build
  4. export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:<WORKSPACE>/cassie-gazebo-sim/build
  5. From the cassie-gazebo-sim/cassie directory, run gazebo cassie.world

Local Drake simulation (no dispatcher)

The following steps will launch a PD controller and simulation:

  1. Options->Spawn local deputy (allows launching of processes)
  2. Right-click and start drake-director and state-visualizer. It's a good idea to allow Director to open before launching the visualizer.
  3. Right-click and start pd-controller and simulator