go1_pybullet

Doccumentation on setting the pybullet enviornment for Go1 to run the robot with NMPC and to collect data for training

Todo Update the readme

    hi

1. Please make sure you have the ROS foxy installed

2. Installing Dependencies from robotpkg Note: list of available packages from robotpkg https://github.com/machines-in-motion/machines-in-motion.github.io/wiki/laas_package_from_binaries

   A) For now I Installed everything form robotpkg

   robotpkg-dynamic-graph-v3=4.4.3
   robotpkg-eigen-quadprog=1.0.1r1
   robotpkg-eiquadprog=1.2.5 
   robotpkg-example-robot-data=4.0.2
   robotpkg-hpp-fcl=2.2.0
   robotpkg-octomap=1.9.6
   robotpkg-pinocchio=2.6.17
   robotpkg-py38-eigenpy=2.9.2
   robotpkg-py38-hpp-fcl=2.2.0
   robotpkg-py38-pinocchio=2.6.17 
   robotpkg-py38-example-robot-data=4.0.7
   robotpkg-py38-crocoddyl=1.9.0r1
   robotpkg-py38-dynamic-graph-v3=4.0.11
   robotpkg-py38-quadprog=0.1.6r1 

Installation

    sudo apt install -y robotpkg-dynamic-graph-v3=VERSION

sometimes

    sudo apt install --allow-downgrades -y robotpkg-dynamic-graph-v3=VERSION

3. Installation for MIM A) Installing Treep

       sudo pip3 install treep

   B) Installing colcon

       pip install -U colcon-common-extensions pytest setuptools

   C) Machines in Motion (MIM) Github repository https://github.com/machines-in-motion

   D) How to clone with treep:

       mkdir devel 
       cd  devel
       git clone git@github.com:machines-in-motion/treep_machines_in_motion.git
       treep --clone  "Packagename"

   clone the following using treep

       treep --clone mim_control
       treep --clone biconvex_mpc
       treep --clone mim_data_utils
       treep --clone mpi_cmake_modules
       treep --clone 

   once these are cloneed using trep, clone this repository by making a directory temp to download the robot_go1_properties and examples to run the robot which are moved to devel/worskapce/src later

   E) How to build a workspace

       cd devel/workspace
       colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-select

   sometimes

    rm -rf build install log  # clear cached config
    
    colcon build --cmake-args \
      -DCMAKE_PREFIX_PATH=/opt/openrobots \
      -DPYTHON_EXECUTABLE=$(which python3)
   
   

   F) Put followings in setup.bash

       # -------------------- Source ROS2 -------------------- #
       source /opt/ros/foxy/setup.bash
       source /opt/openrobots/setup.bash 
       source PATH-To/devel/workspace/install/setup.bash
   
       # --------------- Path for BiConvex MPC --------------- #
       export PYTHONPATH=$PYTHONPATH:PATH-To/devel/workspace/src/biconvex_mpc
   
       # --------------- Path for openrobots ----------------- #
       export PATH=/opt/openrobots/bin:$PATH
       export PKG_CONFIG_PATH=/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH
       export LD_LIBRARY_PATH=/opt/openrobots/lib:$LD_LIBRARY_PATH
       export PYTHONPATH=/opt/openrobots/lib/python3.8/site-packages:$PYTHONPATH
   
       export CMAKE_PREFIX_PATH=/opt/openrobots
       export CMAKE_PREFIX_PATH=/opt/openrobots:$CMAKE_PREFIX_PATH

in opt/opernrobots/setup.bash update

#! /bin/bash
export PATH="/opt/openrobots/bin:$PATH"
export PKG_CONFIG_PATH="/opt/openrobots/lib/pkgconfig:$PKG_CONFIG_PATH"
export LD_LIBRARY_PATH="/opt/openrobots/lib:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH="/opt/openrobots/lib/dynamic-graph-plugins:$LD_LIBRARY_PATH"
export PYTHONPATH="/opt/openrobots/lib/python3.6/site-packages:$PYTHONPATH"
export ROS_PACKAGE_PATH="/opt/openrobots/share:$ROS_PACKAGE_PATH"