quimortiz/flexivpy

Let's move Flexiv! Simulation and Control at 1 KHz with Python + Cyclone DDS + CPP Driver.

FlexivPy

TODO:

Experiments:

• in state: send the joint torque as a msg!
• One joint: how high the gains? X Compare grav. compensation. NO Urdf with better dynamical model. X Task space impedance (moving one, rigid another)
• Excert force without/with Force sensor - z axis control using measurement of force X More security checks.
• Reaching task using Croccodyll X Option to do grav. comp. with MUJOCO. X Rerun integration X Camera simulation X IK controller X Smooth Polynomials X Run controller by controller interface
• Camera in real
• Vicon?/
• Visual Markers with camera

Dependencies

We recommend to install all packages in a conda environment!

Async Simulation

We need Cyclone DDS with Python Bindings

git clone https://github.com/eclipse-cyclonedds/cyclonedds
cd cyclonedds && mkdir build install && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX
cmake --build . --config RelWithDebInfo --target install
cd ..
export CYCLONEDDS_HOME=$CONDA_PREFIX
pip3 install git+https://github.com/eclipse-cyclonedds/cyclonedds-python

Real Robot

We need Cyclone DDS with both C++ bindings and Python Bindings

(see Async simulation to install first cyclone DDS with Python Bindings)

git clone https://github.com/eclipse-cyclonedds/cyclonedds-cxx (/home/quim/code/alex/env) cd cyclonedds-cxx && mkdir build && cd build cmake -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_PREFIX_PATH=$CONDA_PREFIX .. cmake --build . cmake --build . --target install

git clone https://github.com/eclipse-cyclonedds/cyclonedds-cxx
cd build
cmake -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX
        -DCMAKE_PREFIX_PATH=$CONDA_PREFIX
        ..
cmake --build .
cmake --build . --target install

Install Flexiv Sdk

Follow the instructions in:

https://github.com/flexivrobotics/flexiv_rdk

git clone https://github.com/flexivrobotics/flexiv_rdk
cd flexiv_rdk/thirdparty
bash build_and_install_dependencies.sh $CONDA_PREFIX
cd ../..
mkdir build && cd build
cmake .. -DCMAKE_INSTALL_PREFIX=$CONDA_PREFIX -DCMAKE_PREFIX_PATH=$CONDA_PREFIX -DINSTALL_PYTHON_RDK=OFF
cd flexiv_rdk/build
cmake --build . --target install --config Release

Acknowledgement

This repository is inspired by:

https://github.com/Rooholla-KhorramBakht/go2Py

https://github.com/Rooholla-KhorramBakht/FR3Py

https://github.com/machines-in-motion/dynamic_graph_head