/ASE389

Software Stacks for the class ASE 389 DCSN/CTRL HUMAN-CENT ROBOTS

Primary LanguagePythonMIT LicenseMIT

ASE389

Software Stacks for the class ASE 389 DCSN/CTRL HUMAN-CENT ROBOTS based on the PnC.

Installation

  • Install Conda
  • Clone the repository
$ git clone https://github.com/junhyeokahn/ASE389.git
  • Create a virtual environment and install Dependancies
$ conda env create -f ASE389.yml
  • Activate the environment
$ conda activate ASE389
  • Run the code
$ python simulator/pybullet/manipulator_main.py

Implement Operational Space Control

  • Try to implement OSC control and fill out this function.
  • You could take look at RobotSystem to achieve relevant kinematics and dynamics properties of the robot.